Design and Control of 2D Biped that can Walk and Run with Pneumatic Artificial Muscles

2006 ◽  
Author(s):  
Koh Hosoda ◽  
Takashi Takuma ◽  
Atsushi Nakamoto
Keyword(s):  
Artificial Muscles ◽  
Pneumatic Artificial Muscles ◽  
And Control

Empirically-Sourced Mechanical Behaviors of Pneumatic Artificial Muscles for Compensation-Based Controls

2011 ◽  
Vol 186 ◽  
pp. 31-35 ◽  
Author(s):  
Fei Li ◽  
Yu Wang ◽  
He Ting Tong ◽  
Ray P.S. Han
Keyword(s):  
Mechanical Properties ◽  
Skeletal Muscle ◽  
High Power ◽  
Weight Ratio ◽  
Artificial Muscles ◽  
Mechanical Behaviors ◽  
Pneumatic Artificial Muscles ◽  
Powered Exoskeleton ◽  
And Control ◽  
Continuous Working

As a skeletal muscle-like actuator, PAM possesses many unique advantages. They include compliance and high power-to-weight ratio, which make it an ideal actuator for robotic and powered exoskeleton applications. But its flexible braided mesh shell and the compressibility of air make PAM much more difficult to model and control compared to traditional actuators. In this work, the mechanical properties of the McKibben PAM produced by Festo are examined, tested and discussed. The results demonstrate the muscle-like property of PAM and its strong non-linear and hysteresis behaviors. A simple law between the areas of the hysteresis and pressure is proposed, and the relationships of the areas of the hysteresis, external load and the continuous working time are studied. Further, changing the PAM length that is smaller than 0.4 mm may lead to the “crawl” phenomenon. Finally, the empirical results can be used in compensation-based controls of the hysteresis in the McKibben PAM.

scholarly journals Reverse pneumatic artificial muscles (rPAMs): Modeling, integration, and control

PLoS ONE ◽  
2018 ◽  
Vol 13 (10) ◽  
pp. e0204637 ◽  
Author(s):  
Erik H. Skorina ◽  
Ming Luo ◽  
Wut Yee Oo ◽  
Weijia Tao ◽  
Fuchen Chen ◽  
...  
Keyword(s):  
Artificial Muscles ◽  
Pneumatic Artificial Muscles ◽  
And Control

Diagnostics of the Arm Actuator Position Using Incremental Measurement

2014 ◽  
Vol 616 ◽  
pp. 77-84
Author(s):  
Radoslav Kreheľ ◽  
Ľuboslav Straka
Keyword(s):  
Steady State ◽  
Input Pulse ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Basic Properties ◽  
Practical Operation ◽  
Measurement Results ◽  
Pneumatic Artificial Muscles ◽  
And Control

Article discusses the diagnosis and control of the operation of artificial muscle with the ability to predict a steady state actuator arm. This can prevent disrepair and provides diagnostics dynamics shoulders. The article contains information about the function and basic properties of the actuator based on pneumatic artificial muscles. The article presents the measurement results of the response of the actuator arm displacement depending on the input pulse. This dependence enables artificial muscles to be better adjusted to the needs of a practical operation.

scholarly journals Analysis and control of a parallel lower limb based on pneumatic artificial muscles

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668500 ◽  
Author(s):  
Feilong Jiang ◽  
Guoliang Tao ◽  
Qingwei Li
Keyword(s):  
Lower Limb ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Joint Movement ◽  
Obturator Internus ◽  
Pneumatic Artificial Muscles ◽  
Human Limb ◽  
Adaptive Control Algorithm ◽  
And Control

Most robots that are actuated by antagonistic pneumatic artificial muscles are controlled by various control algorithms that cannot adequately imitate the actual muscle distribution of human limbs. Other robots in which the distribution of pneumatic artificial muscle is similar to that of human limbs can only analyze the position of the robot using perceptual data instead of rational knowledge. In order to better imitate the movement of a human limb, the article proposes a humanoid lower limb in the form of a parallel mechanism where muscle is unevenly distributed. Next, the kinematic and dynamic movements of bionic hip joint are analyzed, where the joint movement is controlled by an observer-based fuzzy adaptive control algorithm as a whole rather than each individual pneumatic artificial muscle and parameters that are optimized by a neural network. Finally, experimental results are provided to confirm the effectiveness of the proposed method. We also document the role of muscle in trajectory tracking for the piriformis and musculi obturator internus in isobaric processes.

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