HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

Ανδρικόπουλος, Γεώργιος; Nikolakopoulos, George

doi:10.1007/s11012-017-0738-6

Cited by 14 publications

(4 citation statements)

References 20 publications

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“…When pressurized (either hydraulically or pneumatically), they exhibit muscle-like force-contraction behavior. FAMs are attractive due to their low cost, ease of fabrication, and high force-to-weight ratios, and offer a softer, safer alternative to traditional piston-cylinder actuators, resulting in the integration of FAMs into numerous humanoid robotic systems and exoskeletons (Andrikopoulos and Nikolakopoulos, 2018; Kurumaya et al, 2016; Tondu et al, 2005). Almost all of these robotic systems have used pneumatically actuated artificial muscles; however, in recent years, researchers have utilized hydraulic artificial muscles (Morita et al, 2018; Nikkhah et al, 2020; Tiwari et al, 2012; Zhang et al, 2017), which, while more complex in implementation, are more energy-efficient due to the incompressible nature of hydraulic fluid.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop dynamic load emulation of robotic systems actuated by fluidic artificial muscles

Mazzoleni,

Bryant

2024

Journal of Intelligent Material Systems and Structures

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Hardware-in-the-loop (HIL) testing is a popular control system testing method because it bridges the gap between modeling/simulation and experiments. Instead of designing a full hardware-based experiment to validate the results of a simulation, the plant hardware can be replaced with an emulator device that responds to exogenous inputs and effectively emulates the dynamic behavior of a system. This approach can be more cost-effective and modular, since the emulated plant system can be modeled in a simulation environment, implemented on a simplified piece of hardware and changed quickly without having to fabricate new parts. This paper develops the hardware and control scheme for a certain type of HIL device called a dynamic load emulator that consists of a 1-DOF linear hydraulic dynamometer equipped with in-line sensing to measure both its own position and the force exerted on it by a device-under-test. This measured force is passed to a real-time model of the emulated dynamic system. The model outputs the emulated system position, and a closed-loop controller is used to emulate this position. The emulator controller incorporates both model-based feedforward and standard feedback PI control. This paper characterizes the dynamometer-based dynamic load emulator and its controller, determining its hardware limitations and validating its capabilities when experiencing a force input from a linear spring with known parameters. Additionally, this paper demonstrates the ability of the emulator to represent the dynamics of a 1-DOF robotic joint when actuated by a pair of fluidic artificial muscles (FAMs). The primary contribution of this work is to allow for more comprehensive testing of FAM configurations, topologies, and controllers for a wide range of parameters, because the same hardware can be used to emulate multiple systems. As a result, this work will lead to more cost-effective, time-efficient, and energy-efficient designs of robotic systems and the FAMs used to actuate them.

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Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop dynamic load emulation of robotic systems actuated by fluidic artificial muscles

Mazzoleni,

Bryant

2024

Journal of Intelligent Material Systems and Structures

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“…To realize compliance of robots, many methods have been proposed, such as spring transmission, flexible actuators and soft wearable protection. As one of the most attractive compliant actuators, pneumatic muscle actuators (PMAs) have been developed in 1950s and widely used in various applications [1]- [9]. Andrikopoulos and Nikolakopoulos utilized PMAs to design a 2 DOFs human ankle and mimicked motion characteristics of dorsiflexion/ plantar flexion and inversion/eversion [1].…”

Section: Introductionmentioning

confidence: 99%

“…As one of the most attractive compliant actuators, pneumatic muscle actuators (PMAs) have been developed in 1950s and widely used in various applications [1]- [9]. Andrikopoulos and Nikolakopoulos utilized PMAs to design a 2 DOFs human ankle and mimicked motion characteristics of dorsiflexion/ plantar flexion and inversion/eversion [1]. Saga et al incorporated the pneumatic artificial muscles into a robot arm by consideration of the characteristics of light weight, high output and flexibility [2].…”

Section: Introductionmentioning

confidence: 99%

A Phenomenological Model-Based Controller for Position Tracking of a Pneumatic Muscle Actuator Driven Setup

Zhong

Zhao

2019

IEEE Access

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Pneumatic muscle actuators (PMAs) have been attracting attention in recent years due to characteristics of natural compliance, high power output, lightweight, and low cost. Various apparatus and robots are developed by adopting PMAs and kinds of advanced controlling strategies are proposed to improve achieving accuracy. However, many of the proposed models and strategies are very complex and not suitable for the actual application. In this paper, we devise a single PMA driven setup and build up empirical quartic polynomial models of the apparatus by fitting sampled pressure-displacement data. The novel models are compact and easily computable. An improved PID algorithm by employing the phenomenological models as feed-forward is devised to improve the dynamical response of the setup. The experiments are performed to assess the proposed controller in improving the position accuracy of the apparatus.INDEX TERMS Pneumatic muscle actuators, fitted model, dynamics, feed-forward compensated controller, position tracking.

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“…Especially in applications involving contact with human users, PMAs are particularly favored. The exoskeletons presented in [2,3], the rehabilitation robot in [4], the two-link, planar robot presented in [5], the two-degree-of-freedom parallel robot presented in [6,7] and the humanoid robot legs presented in [8] are only some examples of using PMAs in robotic systems. It is conspicuous that all of these robots have one thing in common: All of them are actuated only by PMA-driven joints.…”

Section: Introductionmentioning

confidence: 99%

A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface

et al. 2018

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In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controllers define a general control interface for every robot that is actuated by PMA-driven joints. It will be shown that controlling the torque of a PMA-driven joint enables the use of standard robotic motion control frameworks, because the torque represents the natural input of the robotic equation of motion. Therefore, both proposed torque control approaches are interconnecting PMAs and their challenging characteristics on the one hand and “conventional” motion control strategies for robots on the other hand. After a detailed discussion of two different torque control approaches, we show that a torque controller handles all characteristics and dynamics of a PMA-driven joint internally, which implies that only its bandwidth and its static torque characteristic must be taken into account for the design of the outer motion control loop. This feature simplifies the integration of PMA-driven joints in robotic systems enormously, as will be demonstrated by a design of a cascade-structured, flatness-based motion controller for an exemplary robot with one degree of freedom.

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HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

Cited by 14 publications

References 20 publications

Hardware-in-the-loop dynamic load emulation of robotic systems actuated by fluidic artificial muscles

Hardware-in-the-loop dynamic load emulation of robotic systems actuated by fluidic artificial muscles

A Phenomenological Model-Based Controller for Position Tracking of a Pneumatic Muscle Actuator Driven Setup

A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface

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