HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

被引：0
|
作者：
George Andrikopoulos
George Nikolakopoulos
机构：
[1] Luleå University of Technology,Control Engineering Group
来源：
Meccanica | 2018年 / 53卷
关键词：
Pneumatic muscle actuators; Robotic leg; Humanoid systems; Nonlinear PID control;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid for compliance and postural control, while serving as a knowledge basis for its future alternative use in prosthetic robotics. HURL’s design properties are described in detail, while its 2-DoF motion capabilities (dorsiflexion–plantar flexion, eversion–inversion) are experimentally evaluated via an advanced nonlinear PID-based control algorithm.
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页码：465 / 480
页数：15
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