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. ; Validerad;2018;Nivå 2;2018-02-09 (rokbeg) ; BAHRT (Vetenskapsradet - Grant No. 2014-3381)
HUmanoid Robotic Leg via pneumatic muscle actuators : implementation and control
2018-01-01
Scopus 2-s2.0-85027334277
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Control of Pneumatic Muscle Actuators
British Library Online Contents | 1995
|Braided Pneumatic Muscle Actuators
British Library Conference Proceedings | 1993
|Fatigue Testing of Pneumatic Artificial Muscle Actuators
AIAA | 2010
|FATIGUE TESTING OF PNEUMATIC ARTIFICIAL MUSCLE ACTUATORS
British Library Conference Proceedings | 2010
|