HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control
Sign Up to like & getrecommendations! Published in 2018 at "Meccanica"
DOI: 10.1007/s11012-017-0738-6
Abstract: In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that… read more here.
Keywords: robotic leg; pneumatic muscle; control; muscle actuators ... See more keywords
Adaptive Servomechanism of Pneumatic Muscle Actuators With Uncertainties
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2016.2573266
Abstract: Precise control of a pneumatic muscle actuator is a challenging problem, due to its nonlinear and time-varying characteristics. Specifically, it can be modeled as parallel connection of a nonlinear friction force, a nonlinear spring, and… read more here.
Keywords: adaptive servomechanism; pneumatic muscle; servomechanism pneumatic; muscle actuators ... See more keywords
Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators
Sign Up to like & getrecommendations! Published in 2021 at "Actuators"
DOI: 10.3390/act10020035
Abstract: This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for… read more here.
Keywords: control; extended state; state observer; super twisting ... See more keywords