1P1-S06 Bipedal Walking Robot with Foot Based on Human Structure Driven by Pneumatic Artificial Muscles(Biorobotics)

This paper reports on the control structure of the pneumatic biped Lucy. The robot is actuated with pleated pneumatic artificial muscles, which have interesting characteristics that can be exploited for legged locomotion. They have a high power to weight ratio, an adaptable compliance and they can absorb impact effects.The discussion of the control architecture focuses on the joint trajectory generator and the joint trajectory tracking controller. The trajectory generator calculates trajectories represented by polynomials based on objective locomotion parameters, which are average forward speed, step length, step height and intermediate foot lift. The joint trajectory tracking controller is divided in three parts: a computed torque module, a delta-p unit and a bang-bang pressure controller. The control design is formulated for the single support and double support phase, where specifically the trajectory generator and the computed torque differs for these two phases.The first results of the incorporation of this control architecture in the real biped Lucy are given. Several essential graphs, such as pressure courses, are discussed and the effectiveness of the proposed algorithm is shown by the small deviations between desired and actual attained objective locomotion parameters.

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Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles

Journal of Robotics ◽

10.1155/2020/3481056 ◽

2020 ◽

Vol 2020 ◽

pp. 1-11

Author(s):

Hualong Xie ◽

Zhijie Li ◽

Fei Li

Keyword(s):

Knee Joint ◽

Performance Test ◽

Artificial Muscles ◽

Main Function ◽

Walking Robot ◽

Biped Walking ◽

Target Trajectory ◽

Pneumatic Artificial Muscles ◽

The Disabled ◽

Biped Walking Robot

In the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important part of heterogeneous biped walking robot, and its main function is to simulate the disabled a healthy normal gait, which provides intelligent bionic legs gait to follow the target trajectory. The pneumatic artificial muscles (PAM) have good application in the artificial leg. The bionic design of artificial leg mainly includes the structure of hip joint, knee joint, and ankle joint, adopting the four-bar mechanism as the mechanical structure of the knee joint, and PAM are used as the driving source of the knee joint. Secondly, the PAM performance test platform is built to establish the relationship among output force, shrinkage rate, and input pressure under the measured isobaric conditions, and the mathematical model of PAM is established. Finally, the virtual prototype technology is used to build a joint simulation platform, and PID control algorithm is used for verification simulation. The results show that the artificial leg can follow the target trajectory.

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Control and Stability Evaluation of the Bipedal Walking Robot AnyWalker

International Review of Automatic Control (IREACO) ◽

10.15866/ireaco.v11i4.13917 ◽

2018 ◽

Vol 11 (4) ◽

pp. 160 ◽

Cited By ~ 1

Author(s):

Igor Ryadchikov ◽

Semyon Sechenev ◽

Evgeny Nikulchev ◽

Michail Drobotenko ◽

Alexander Svidlov ◽

...

Keyword(s):

Bipedal Walking ◽

Stability Evaluation ◽

Walking Robot

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Joint Control of a Bipedal Walking Robot

1992 American Control Conference ◽

10.23919/acc.1992.4792586 ◽

1992 ◽

Cited By ~ 1

Author(s):

N.J. Archer ◽

K. Warwick

Keyword(s):

Bipedal Walking ◽

Joint Control ◽

Walking Robot

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Accelerating Skill Acquisition of Two-Handed Drumming using Pneumatic Artificial Muscles

Proceedings of the Augmented Humans International Conference ◽

10.1145/3384657.3384780 ◽

2020 ◽

Author(s):

Takashi Goto ◽

Swagata Das ◽

Katrin Wolf ◽

Pedro Lopes ◽

Yuichi Kurita ◽

...

Keyword(s):

Skill Acquisition ◽

Artificial Muscles ◽

Pneumatic Artificial Muscles

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An extended state observer-based full-order sliding mode control for robotic joint actuated by antagonistic pneumatic artificial muscles

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420986036 ◽

2021 ◽

Vol 18 (1) ◽

pp. 172988142098603

Author(s):

Daoxiong Gong ◽

Mengyao Pei ◽

Rui He ◽

Jianjun Yu

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

State Observer ◽

Extended State Observer ◽

Artificial Muscles ◽

Extended State ◽

Robot System ◽

Mode Control ◽

Physical Experiments ◽

Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are expected to play an important role in endowing the advanced robot with the compliant manipulation, which is very important for a robot to coexist and cooperate with humans. However, the strong nonlinear characteristics of PAMs hinder its wide application in robots, and therefore, advanced control algorithms are urgently needed for making the best use of the advantages and bypassing the disadvantages of PAMs. In this article, we propose a full-order sliding mode control extended state observer (fSMC-ESO) algorithm that combines the ESO and the fSMC for a robotic joint actuated by a pair of antagonistic PAMs. The fSMC is employed to eliminate the chattering and to guarantee the finite-time convergence, and the ESO is adopted to observe both the total disturbance and the states of the robot system, so that we can inhibit the disturbance and compensate the nonlinearity efficiently. Both simulations and physical experiments are conducted to validate the proposed method. We suggest that the proposed method can be applied to the robotic systems actuated by PAMs and remarkably improve the performance of the robot system.

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Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication

National Science Review ◽

10.1093/nsr/nwab048 ◽

2021 ◽

Author(s):

Jiang Zou ◽

Miao Feng ◽

Ningyuan Ding ◽

Peinan Yan ◽

Haipeng Xu ◽

...

Keyword(s):

Muscle Fiber ◽

Artificial Muscles ◽

Fiber Array ◽

Fiber Arrays ◽

Multiple Mode ◽

Pneumatic Artificial Muscles ◽

Pipe Line ◽

One Step ◽

Robotic Applications ◽

Compliant Electrodes

Abstract Although the advances in artificial muscles enable creating soft robots with biological dexterity and self-adaption in unstructured environments, producing scalable artificial muscles with multiple-mode actuations is still elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles, called MAIPAMs (Muscle-fiber Array Inspired Pneumatic Artificial Muscles), capable of multiple-mode actuations (such as parallel elongation-bending-spiraling actuations, parallel 10 bending actuations, and cascaded elongation-bending-spiraling actuations). Our MAIPAMs mainly consist of active 3D elastomer-balloon arrays reinforced by a passive elastomer membrane, which is achieved through a planar design and one-step rolling fabrication approach. We introduce the prototypical designs of MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible while un-stretchable layers for contraction and twisting actuations and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows promising potentials for versatile robotic applications, such as carrying a camera for recording videos, gripping and manipulating objects, and climbing a pipe-line.

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