TY - GEN
T1 - Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach
AU - Sardellitti, I.
AU - Park, J.
AU - Shin, D.
AU - Khatib, O.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349135546&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2007.4399073
DO - 10.1109/IROS.2007.4399073
M3 - Conference contribution
AN - SCOPUS:51349135546
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1822
EP - 1827
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -