Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach

I. Sardellitti, J. Park, D. Shin, O. Khatib

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

Recently, on the base of Distributed Macro-Mini Actuation approach (DM 2), a new robotic manipulator with hybrid actuation, air muscles-DC motor, has been developed. Among existing actuators, the hybrid actuation employs air muscles because they represent an advantageous tradeoff of performance and safety, due to their power/weight ratio and inherent compliance. The air muscles, however, are limited in bandwidth and their behavior is highly nonlinear. In order to overcome these limitations, the paper presents a torque control strategy based on a pair of differentially connected force-controlled air muscles. This controller was implemented and evaluated on a single joint testbed, first by itself and then as macro component into the Macro-Mini control strategy.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1822-1827
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/TerritoryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach'. Together they form a unique fingerprint.

Cite this