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Control of Artificial Pneumatic Muscle for Robot Application
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006Pneumatic muscle has many advantages such as elasticity, high power and structural similarity to a living thing's muscle. There has been many researches to control robot actuated by pneumatic muscles, but conventional theories are hard to apply on real robot plants because of their assumptions and disregards of pneumatic muscle's physical aspects like ...
Tae-Yong Choi +2 more
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Nonparametric control algorithms for a pneumatic artificial muscle
Expert Systems with Applications, 2012Highlights? Implementation of a self-organizing fuzzy controller for position and force control. ? Controller is experimentally evaluated alongside a PD and fixed rule fuzzy controller. ? Two different pneumatic valves are compared to determine its influence. ? SOFC outperforms the PD and FCC in standard control tests.
Mervin Chandrapal +3 more
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Mathematical model of rubberless pneumatic artificial muscle
2011 IEEE International Conference on Robotics and Biomimetics, 2011This paper describes a mathematical model of a rubberless pneumatic artificial muscle. This artificial muscle has characteristics resembling those of a McKibben-type artificial muscle. Because of its exclusion of rubber material, however, the rubberless artificial muscle can be driven by low pressure.
Takanori Ogasawara +3 more
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Enhanced dynamic performance in pneumatic muscle actuators
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003Pneumatic muscle actuators based on McKibben muscles have performance characteristics that may be of considerable significance in robotics due to their power/weight ratio and use as user friendly soft drives. However, the dynamic response (bandwidth) has been inferior to electric systems, with a secondary concern over system stiffness.
Steve Davis 0001 +4 more
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Enhanced manipulator's safety with artificial pneumatic muscle
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009The safety of humans working with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet required safety have been met owing to the absence of compliance in the robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve the joint ...
Tae-Yong Choi +3 more
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A comparison study on Pneumatic Muscles and electrical motors
2008 IEEE International Conference on Robotics and Biomimetics, 2009Pneumatic Artificial Muscles also known as “PAM” and “PM”, are famous as very light actuators in the current literature. The reason stated in the literature for such claim is their lower “power to weight” ratio compared to other type of actuators namely pneumatic cylinders and electrical motors.
Mahmoud Tavakoli +2 more
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Design and development of innovative textile pneumatic muscles
Journal of the Textile Institute, 2012In recent years, the use of pneumatics in innovative actuation systems has led to the development, testing and first applications of nonconventional actuators such as pneumatic muscles. Like human muscles, pneumatic muscles can exert only traction forces, and offer a good power-to-weight ratio.
BELFORTE, GUIDO +2 more
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Comparison of contractile and extensile pneumatic artificial muscles
Smart Materials and Structures, 2016Pneumatic artificial muscles (PAMs) are used in robotic and prosthetic applications due to their high power to weight ratio, controllable compliance, and simple design. Contractile PAMs are typically used in traditional hard robotics in place of heavy electric motors.
Thomas E. Pillsbury +2 more
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Control of pneumatic muscle actuators
IEEE Control Systems, 1995Problems with the control and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, and simplicity are factors that could potentially be exploited in sophisticated dextrous manipulator designs.
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Non-linear control of Pneumatic Artificial Muscles
21st Mediterranean Conference on Control and Automation, 2013In this article, a non-linear PID structure is being synthesized, providing ameliorated compensation of the Pneumatic Artificial Muscle's (PAM) non-linear hysteretic phenomena and advanced robustness. Experimental studies are being utilized to prove the overall efficiency of the non-linear control scheme regarding: a) set-point tracking performance for
George Andrikopoulos +2 more
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