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)


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    Title :

    HUmanoid Robotic Leg via pneumatic muscle actuators : implementation and control


    Contributors:

    Publication date :

    2018-01-01


    Remarks:

    Scopus 2-s2.0-85027334277



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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