HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control
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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
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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
Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons
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DOI: 10.1109/tmech.2016.2636199
Abstract: Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads… read more here.
Keywords: muscle based; pneumatic muscle; continuum; robot ... See more keywords
Numerical modelling and experimental validation of a McKibben pneumatic muscle actuator
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DOI: 10.1177/1045389x17698245
Abstract: The McKibben muscle belongs to the type of muscles known as braided muscles. It is made of an inner hyper-elastic tube, surrounded by a braided shell made of inextensible threads; both ends provide mechanical and… read more here.
Keywords: pneumatic muscle; validation; muscle; mckibben pneumatic ... See more keywords
Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators
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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