Optimization of Artificial Muscle Placements for a Humanoid Bipedal Robot

2020 ◽  
pp. 257-269
Author(s):  
Connor Morrow ◽  
Benjamin Bolen ◽  
Alexander J. Hunt
Keyword(s):  
Artificial Muscle ◽  
Bipedal Robot

scholarly journals Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Kaiyang Yin ◽  
Yaxu Xue ◽  
Yadong Yu ◽  
Shuangxi Xie
Keyword(s):  
Muscle Activation ◽  
Control Method ◽  
Balance Control ◽  
Impedance Control ◽  
Artificial Muscle ◽  
Standing Balance ◽  
Activation Model ◽  
Bipedal Robot ◽  
Impedance Model ◽  
Impedance Parameters

The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control.

Dynamic Analysis Method for Electromagnetic Artificial Muscle Actuator under PID Control

2011 ◽  
Vol 131 (2) ◽  
pp. 166-170 ◽  
Author(s):  
Yoshihiro Nakata ◽  
Hiroshi Ishiguro ◽  
Katsuhiro Hirata
Keyword(s):  
Dynamic Analysis ◽  
Pid Control ◽  
Artificial Muscle ◽  
Analysis Method

A Pneumatic Artificial Muscle Bionic Kangaroo Leg Suspension

2019 ◽  
Vol 12 (4) ◽  
pp. 357-366
Author(s):  
Yong Song ◽  
Shichuang Liu ◽  
Jiangxuan Che ◽  
Jinyi Lian ◽  
Zhanlong Li ◽  
...  
Keyword(s):  
Strong Shock ◽  
Artificial Muscle ◽  
Suspension System ◽  
Vehicle Body ◽  
Vehicle Suspension ◽  
Pneumatic Artificial Muscle ◽  
Advantages And Disadvantages ◽  
Road Excitation ◽  
Vehicle Suspension System ◽  
Suspension Structure

Background: Vehicles generally travel on different road conditions, and withstand strong shock and vibration. In order to reduce or isolate the strong shock and vibration, it is necessary to propose and develop a high-performance vehicle suspension system. Objective: This study aims to report a pneumatic artificial muscle bionic kangaroo leg suspension to improve the comfort performance of vehicle suspension system. Methods: In summarizing the existing vehicle suspension systems and analyzing their advantages and disadvantages, this paper introduces a new patent of vehicle suspension system based on the excellent damping and buffering performance of kangaroo leg, A Pneumatic Artificial Muscle Bionic Kangaroo Leg Suspension. According to the biomimetic principle, the pneumatic artificial muscles bionic kangaroo leg suspension with equal bone ratio is constructed on the basis of the kangaroo leg crural index, and two working modes (passive and active modes) are designed for the suspension. Moreover, the working principle of the suspension system is introduced, and the rod system equations for the suspension structure are built up. The characteristic simulation model of this bionic suspension is established in Adams, and the vertical performance is analysed. Results: It is found that the largest deformation happens in the bionic heel spring and the largest angle change occurs in the bionic ankle joint under impulse road excitation, which is similar to the dynamic characteristics of kangaroo leg. Furthermore, the dynamic displacement and the acceleration of the vehicle body are both sharply reduced. Conclusion: The simulation results show that the comfort performance of this bionic suspension is excellent under the impulse road excitation, which indicates the bionic suspension structure is feasible and reasonable to be applied to vehicle suspensions.

Development of A Small Clamper for Tendon-sheath Artificial Muscle

2018 ◽  
Author(s):  
Qi Zhang ◽  
Xiaopeng Shen ◽  
Xingsong Wang ◽  
Mengqian Tian ◽  
Mingxing Yang ◽  
...  
Keyword(s):  
Artificial Muscle ◽  
Tendon Sheath

scholarly journals Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics

Actuators ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 17
Author(s):  
Seigo Kimura ◽  
Ryuji Suzuki ◽  
Katsuki Machida ◽  
Masashi Kashima ◽  
Manabu Okui ◽  
...  
Keyword(s):  
Joint Stiffness ◽  
Knee Extensor ◽  
Artificial Muscle ◽  
Variable Stiffness ◽  
Lower Limbs ◽  
Joint Characteristics ◽  
Standing Up ◽  
Maximum Decrease ◽  
Control Devices ◽  
The Relationship

In this paper, the prototype of the assistive suit for lower limbs was developed. The prototype was based on an assist method with joint stiffness and antagonized angle control. The assist method comprises a system consisting of a pneumatic artificial muscle and a pull spring, which changes the joint stiffness and the antagonized angle to correspond to the movement phase and aims at coordinated motion assistance with the wearer. First, the characteristics of the developed prototype were tested. It was confirmed that the measured value of the prototype followed the target value in the relationship between torque and angle. In addition, there was hysteresis in the measured value, but it did not affect the assist. Next, the evaluation of standing-up and gait assist by measuring electromyography (EMG) of the knee extensor muscle was conducted using the prototype. In all subjects, a decrease in EMG due to the assist was confirmed. In one subject, the maximum decrease rate at the peak of the EMG was about 50% for standing-up motion and about 75% for gait motion. From the results of these assist evaluations, the effectiveness of the assist method based on the joint stiffness and antagonistic angle control using the prototype was confirmed.

scholarly journals Towards bio-inspired artificial muscle: a mechanism based on electro-osmotic flow simulated using dissipative particle dynamics

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Ramin Zakeri
Keyword(s):  
Zeta Potential ◽  
Electric Field ◽  
Dissipative Particle Dynamics ◽  
Artificial Muscle ◽  
Particle Dynamics ◽  
Polymer Membrane ◽  
Channel Width ◽  
Micro Channel ◽  
Osmotic Flow ◽  
Electro Osmotic Flow

AbstractOne of the unresolved issues in physiology is how exactly myosin moves in a filament as the smallest responsible organ for contracting of a natural muscle. In this research, inspired by nature, a model is presented consisting of DPD (dissipative particle dynamics) particles driven by electro-osmotic flow (EOF) in micro channel that a thin movable impermeable polymer membrane has been attached across channel width, thus momentum of fluid can directly transfer to myosin stem. At the first, by validation of electro-osmotic flow in micro channel in different conditions with accuracy of less than 10 percentage error compared to analytical results, the DPD results have been developed to displacement of an impermeable polymer membrane in EOF. It has been shown that by the presence of electric field of 250 V/m and Zeta potential − 25 mV and the dimensionless ratio of the channel width to the thickness of the electric double layer or kH = 8, about 15% displacement in 8 s time will be obtained compared to channel width. The influential parameters on the displacement of the polymer membrane from DPD particles in EOF such as changes in electric field, ion concentration, zeta potential effect, polymer material and the amount of membrane elasticity have been investigated which in each cases, the radius of gyration and auto correlation velocity of different polymer membrane cases have been compared together. This simulation method in addition of probably helping understand natural myosin displacement mechanism, can be extended to design the contraction of an artificial muscle tissue close to nature.

Electrostatic bellow muscle actuators and energy harvesters that stack up

2021 ◽  
Vol 6 (51) ◽  
pp. eaaz5796
Author(s):  
I. D. Sîrbu ◽  
G. Moretti ◽  
G. Bortolotti ◽  
M. Bolignari ◽  
S. Diré ◽  
...  
Keyword(s):  
High Performance ◽  
High Reliability ◽  
Low Cost ◽  
Artificial Muscle ◽  
Pressure Head ◽  
Robotic Systems ◽  
Maximum Pressure ◽  
Term Operation ◽  
Energy Harvesters ◽  
Out Of Plane

Future robotic systems will be pervasive technologies operating autonomously in unknown spaces that are shared with humans. Such complex interactions make it compulsory for them to be lightweight, soft, and efficient in a way to guarantee safety, robustness, and long-term operation. Such a set of qualities can be achieved using soft multipurpose systems that combine, integrate, and commute between conventional electromechanical and fluidic drives, as well as harvest energy during inactive actuation phases for increased energy efficiency. Here, we present an electrostatic actuator made of thin films and liquid dielectrics combined with rigid polymeric stiffening elements to form a circular electrostatic bellow muscle (EBM) unit capable of out-of-plane contraction. These units are easy to manufacture and can be arranged in arrays and stacks, which can be used as a contractile artificial muscle, as a pump for fluid-driven soft robots, or as an energy harvester. As an artificial muscle, EBMs of 20 to 40 millimeters in diameter can exert forces of up to 6 newtons, lift loads over a hundred times their own weight, and reach contractions of over 40% with strain rates over 1200% per second, with a bandwidth over 10 hertz. As a pump driver, these EBMs produce flow rates of up to 0.63 liters per minute and maximum pressure head of 6 kilopascals, whereas as generator, they reach a conversion efficiency close to 20%. The compact shape, low cost, simple assembling procedure, high reliability, and large contractions make the EBM a promising technology for high-performance robotic systems.

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