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

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

doi:10.1109/IROS.2007.4399073

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

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

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	1822-1827
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399073
Publication status	Published - 2007
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	07/10/29 → 07/11/2

All Science Journal Classification (ASJC) codes

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

Access to Document

10.1109/IROS.2007.4399073

Cite this

Sardellitti, I., Park, J., Shin, D., & Khatib, O. (2007). Air muscle controller design in the Distributed Macro-Mini (DM²) Actuation approach. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1822-1827). [4399073] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399073

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title = "Air muscle controller design in the Distributed Macro-Mini (DM2) Actuation approach",

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.",

author = "I. Sardellitti and J. Park and D. Shin and O. Khatib",

year = "2007",

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language = "English",

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series = "IEEE International Conference on Intelligent Robots and Systems",

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booktitle = "Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007",

note = "2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 ; Conference date: 29-10-2007 Through 02-11-2007",

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Sardellitti, I, Park, J, Shin, D & Khatib, O 2007, Air muscle controller design in the Distributed Macro-Mini (DM²) Actuation approach. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399073, IEEE International Conference on Intelligent Robots and Systems, pp. 1822-1827, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399073

Air muscle controller design in the Distributed Macro-Mini (DM²) Actuation approach. / Sardellitti, I.; Park, J.; Shin, D.; Khatib, O.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1822-1827 4399073 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Sardellitti I, Park J, Shin D, Khatib O. Air muscle controller design in the Distributed Macro-Mini (DM²) Actuation approach. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1822-1827. 4399073. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399073