A frequency modeling method of rubbertuators for control application in an IMA framework

Thongchai, Siripun; Goldfarb, Michael; Sarkar, Nilanjan; Kawamura, K.

doi:10.1109/acc.2001.945977

Cited by 13 publications

(10 citation statements)

References 6 publications

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“…Accordingly, a number of control strategies addressing some of these difficulties have been introduced in the last two decades. Control techniques based on PID control [7], adaptive control [8], nonlinear optimal predictive control [9], neural network control [6], fuzzy-PID control [10], sliding mode control [3] and frequency modeling and control [11] could offer solutions to the control of highly nonlinear pneumatic systems. One of the novelties of this paper is to develop a bumpless open-loop controller for artificial muscles that work together with motor-driven links at very high speeds and challenging dynamic environments.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms

Erdemir

Ozkan

Kawamura

et al. 2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

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. (2010). Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms. In 2010 IEEE-RAS International Conference on Humanoid Robots (Nashville TN, USA, December 6-8, 2010) (pp. 530-535). Institute of Electrical and Electronics Engineers (IEEE). DOI: 10.1109/ICHR.2010 General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal ? Take down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.

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Section: Introductionmentioning

confidence: 99%

Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms

Erdemir

Ozkan

Kawamura

et al. 2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

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“…Furthermore, the dynamic parameters now vary around their mean values of +/-40% while their variation was limited to about +/-15% in the case of nongravity perturbed horizontal movements. Linear identified third order models have also be considered in the case of the antagonistic Rubbertuators -McKibben type musclesactuated the Vanderbilt university's ISAC robot (Thongchai et al, 2001). These authors have proposed to use the joint identified model in the framework of a fuzzy controller using both linear quadratic regulator (LQR) and sliding mode techniques.…”

Section: Single-variable Position Controlmentioning

confidence: 99%

Artificial Muscles for Humanoid Robots

Tondu¹

2007

Humanoid Robots, Human-Like Machines

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The question of actuator choice for humanoid robotsIt is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the technology of redundant robot-arms and humanoid robots as underlined in some technical documents of the Japanese AIST where it clearly appears that the HRP2 humanoid robot upper limb is directly derived from the Mitsubshi PA10 7R industrial robot-arm. D u e t o i t s h i g h n u m b e r o f d e g r e e s o f f r e e d o m i n c o m p a r i s o n t o i n d u s t r i a l r o b o t s , ahumanoid robot requires great compactness of all actuator and sensor components. This is why we believe that the harmonic drive technology associated with direct current electric motor technology has played a non-negligible part in humanoid robot development. The DC actuator offers the great advantage of being a straightforward technology, associated with simple and well-known physical models, its integration into mobile robots benefits from new developments in embedded batteries. However, its low maximum-torque-onmass and maximum-torque-on-volume ratios are a serious drawback for its use in direct drive apparatuses. On the other hand, the ability of electric motors to generate very high velocities in comparison with moderate jointed velocities needed by industrial robot-arms and more by jointed anthropomorphic limbs, gives the possibility of using high ratio speed reducers to amplify motor-torque. Moreover, the choice of a high ratio speed reducer offers the advantage of masking inertial perturbations such as external torque perturbations. The technical achievement of such ratios induces specific mechanical difficulties due to the bulkiness of successive gears; harmonic drive technology -represented for example by Harmonic Drive AG -resolves this problem in a very elegant manner: the harmonic drive and the actuator fit together without excessive increase in mass and volume in comparison with the actuator alone. It can be considered that most of today's humanoid robots are actuated by DC motors with harmonic drives (this actuation mode is mentioned, for example, by Honda from its first paper about the P2 robot onwards (Hirai et al., 1998) and then in the official ASIMO web site, as well as in papers concerning other Japanese and European humanoid robots). But if this technology simplifies actuator mechanical integration and leads to the use of simple joint linear control, despite the highly non-linear character of robot dynamics, it is well-known that the use of a speed reducer multiplies the

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“…In a general manner, rectilinear fluidic artificial muscles are very promising for actuating soft robots or exoskeletons, but their highly nonlinear character makes their control particularly difficult. From the time the -rubber actuator‖ appeared in its renewed version designed by the Japanese tire manufacturer Bridgestone, multiple attempts have been made to control robots actuated by McKibben artificial muscles, by means of neural network control [1][2][3], fuzzy logic-based control [4,5], adaptive control [6,7], sliding mode control [8][9][10][11], or nonlinear model-based control [12,13]. Although relevant results were reported, these generally complex control approaches need to tune a relatively large number of parameters and their performances in a large class of movements is rarely discussed.…”

Section: Introductionmentioning

confidence: 99%

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

Tondu

2014

Actuators

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Abstract:We analyze the possibility of taking advantage of artificial muscle's own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID) controller an I controller. The advantages are that there would only be one parameter to tune and no need for a dynamic model. A stability analysis is proposed from a simple phenomenological artificial muscle model.Step and sinus-wave tracking responses performed with pneumatic McKibben muscles are reported showing the practical efficiency of the method to combine accuracy and load robustness. In the particular case of the McKibben artificial muscle technology, we suggest that the dynamic performances in stability and load robustness would result from the textile nature of its braided sleeve and its internal friction which do not obey Coulomb's third law, as verified by preliminary reported original friction experiments. Comparisons are reported between three kinds of braided sleeves made of rayon yarns, plastic, and thin metal wires, whose similar closedloop dynamic performances are highlighted. It is also experimentally shown that a sleeve braided with thin metal wires can give high accuracy performance, in step as in tracking response. This would be due to a low static friction coefficient combined with a kinetic friction exponentially increasing with speed in accordance with hydrodynamic lubrication theory applied to textile physics.

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A frequency modeling method of rubbertuators for control application in an IMA framework

Cited by 13 publications

References 6 publications

Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms

Design and optimization of a fuzzy-neural hybrid controller for an artificial muscle robotic arm using genetic algorithms

Artificial Muscles for Humanoid Robots

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

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