A robust time-delay nonlinear controller for a pneumatic artificial muscle

2018 ◽  
Vol 19 (1) ◽  
pp. 23-30 ◽  
Author(s):  
Dang Xuan Ba ◽  
Kyoung Kwan Ahn
Keyword(s):  
Time Delay ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Nonlinear Controller

Pneumatic Artificial Muscle as Actuator in Mechatronic System

2013 ◽  
Vol 460 ◽  
pp. 81-90 ◽  
Author(s):  
Jana Mižáková ◽  
Ján Piteľ ◽  
Mária Tóthová
Keyword(s):  
Time Delay ◽  
Artificial Muscle ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscle ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Static And Dynamic Characteristics ◽  
Pneumatic Artificial Muscles ◽  
Basic Characteristics ◽  
System With Time Delay

The paper describes basic characteristics of pneumatic artificial muscles (PAM) for using as actuator in mechatronic system. The previous parameters research of individually connected artificial muscles shows, that it is significantly nonlinear system with time delay. Availing these results, problem of using of static and dynamic characteristics of PAMs for control and modeling electropneumatic mechatronic systems based on the artificial muscles occurs. To solve this problems, the paper also deals with design of some models.

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 pneumatic artificial muscle driven drum playing robot for reinforcement learning using real robot

2021 ◽  
Vol 2021 (0) ◽  
pp. 2P2-E07
Author(s):  
Manabu OKUI ◽  
Shiori NAKAMURA ◽  
Rie NISHIHAMA ◽  
Seigo KIMURA ◽  
Taro NAKAMURA
Keyword(s):  
Reinforcement Learning ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle ◽  
Real Robot

Energy-based Motion Control for Pneumatic Artificial Muscle-Actuated Robots With Experiments

2021 ◽  
pp. 1-1
Author(s):  
Dingkun Liang ◽  
Ning Sun ◽  
Yiming Wu ◽  
Yiheng Chen ◽  
Yongchun Fang ◽  
...  
Keyword(s):  
Motion Control ◽  
Artificial Muscle ◽  
Pneumatic Artificial Muscle
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