Modular hybrid robots with biologically inspired actuators and joint stiffness control

Šurdilović, Dragoljub; Radojicic, Jelena; Schulze, Michael; Dembek, M.

doi:10.1109/biorob.2008.4762929

Cited by 5 publications

(4 citation statements)

References 6 publications

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“…PMA provides a good balance of actuation performance and power-to-weight ratio, the description of which is significantly explained in the survey [221]. Further examples of continuum robotic structures developed using the PMA are shown in [46,190,191,[212][213][214][215][216][217][218][219][220].…”

Section: Force Actuatormentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.

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Section: Force Actuatormentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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“…In their early work, overshoot of 12% was shown in experiments and performance was highly sensitive to noise, changes in supply pressure, temperature, and tube length [12]. Surdilovic et al demonstrated trajectory tracking of a PAM robot manipulator with an accuracy of 10 mm using linear control theory [13]. Situm et al used a proportional-integral position controller for an antagonistic pair of PAMs, with a steady-state error of 18% from the set point value [14].…”

Section: Control Approaches For Pamsmentioning

confidence: 99%

Robust Control Law for Pneumatic Artificial Muscles

Slightam

Nagurka

2017

ASME/BATH 2017 Symposium on Fluid Power and Motion Control

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This paper presents a modified integral sliding surface, sliding mode control law for pneumatic artificial muscles. The cutoff frequency tuning parameter λ is squared to increase the gradient from absement (integral of position) to position and higher derivatives to reflect the more dominant terms in the actuator dynamics. The sliding mode controller is coupled with proportional and integral action compensation. The control system is sufficiently robust so that use of an observer and input-output feedback linearization are not required. Closed-loop control experiments are compared with traditional sliding mode controller designs presented in the literature for pneumatic artificial muscles. Experiments include the tracking of sinusoidal waves at 0.5 and 1 Hz, tracking of square-like waves with seventh-order trajectory transitions at a rate of 0.2 Hz without and with a steady-state period of 10 seconds, as well as a step input response. These experiments indicate that the control law provides similar bandwidth, tracking, and steady-state performance as approaches requiring nonlinear feedback and model observation for pneumatic artificial muscles. Experiments demonstrate an accuracy of 50 μm at steady-state with no overshoot and maximum tracking errors less than 0.4 mm for smooth square-like trajectories.

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“…(a) Antagonistic arrangement. It is based on a pair of actuators to simulate biological joint motion [7][8][9][10]. This kind of antagonistic structure achieves its adjustable stiffness by changing the spring pre-load.…”

Section: Introductionmentioning

confidence: 99%

Design and experiment of a SMA-based continuous-stiffness-adjustment torsional elastic component for variable stiffness actuators

Xiong¹,

Sun²,

Jia³

et al. 2021

Smart Mater. Struct.

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The variable stiffness actuator (VSA) is widely applied in robotics and human-robot interactions, generating controllable torque with sufficient compliance to ensure safety and robustness. At present, typical VSA design usually adopted pure mechanical structures that integrated an additional motor for stiffness adjustment, making it hard to meet the demand of lightweight joint actuation due to large actuator size and weight. As a new functional material, shape memory alloy (SMA) shows the prospect of lightweight actuation due to its high power-to-weight ratio. In this paper, a compact SMA-based torsional elastic component (SMA-TE) for the VSA is proposed. The SMA-TE with torsional stiffness is implemented by the confrontational arrangement of paired spiral SMA springs. The ceramic heating plate and semiconductor refrigeration plate are installed in the elastic component shell, and the thermally conductive medium is filled between the internal gap. The torsional stiffness of the SMA-TE can be continuously adjusted via a feed-forward cascade controller. Repeated experimental results show that the SMA-TE can precisely maintain constant stiffness and continuously adjust its stiffness between 2.6 Nm rad −1 and 6.8 Nm rad −1 when performing precise square wave stiffness tracking under variable frequencies.

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Modular hybrid robots with biologically inspired actuators and joint stiffness control

Cited by 5 publications

References 6 publications

Continuum Robots for Manipulation Applications: A Survey

Continuum Robots for Manipulation Applications: A Survey

Robust Control Law for Pneumatic Artificial Muscles

Design and experiment of a SMA-based continuous-stiffness-adjustment torsional elastic component for variable stiffness actuators

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