Pneupard: A biomimetic musculoskeletal approach for a feline-inspired quadruped robot

Rosendo, André; Nakatsu, Shogo; Narioka, Kenichi; Hosoda, Koh

doi:10.1109/iros.2013.6696540

Cited by 25 publications

(27 citation statements)

References 24 publications

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“…Using control laws from (8) to (11), the closed-loop pressure dynamics in each chamber reduces to a first-order system with a time constant defined by μ p =1/k pF .…”

Section: Pneumatic Force Controllermentioning

confidence: 99%

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Accurate motion control of a servopneumatic system using integral sliding mode control

Carneiro

Almeida

2014

Int J Adv Manuf Technol

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Pneumatic systems are a simple and readily available technology that presents high force to volume ratios. Their use is nevertheless restricted to simple motion tasks, given the complexity in its modelling and control. One of the main aspects contributing to this panorama is the difficulty in accurately predicting friction forces. In fact, although it is possible to find in literature complex friction models that suit well a particular experimental set-up, its practical use becomes hindered given the diversity of pneumatic actuated systems found in industry. This paper presents a new controller that achieves very good results even without a friction model. The controller architecture includes a robust motion control loop and a non-linear state feedback pneumatic force loop. The motion controller law is based on integral sliding control and takes into account the pneumatic dynamics, using it as a natural filter of the discontinuous part of the control law. Experimental results show that the proposed approach leads to low tracking and positioning errors. These results are obtained without including a friction model and even in the presence of parameter disturbances caused by a fivefold payload change, without any controller retuning or excessive control action activity.

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“…Using control laws from (8) to (11), the closed-loop pressure dynamics in each chamber reduces to a first-order system with a time constant defined by μ p =1/k pF .…”

Section: Pneumatic Force Controllermentioning

confidence: 99%

“…This makes them a very robust and low-maintenance solution. Furthermore, pneumatic systems present natural compliance, making them well matched for applications like deburring operations [1], haptic devices [2][3][4][5], rehabilitation machines [6], exoskeletons [7][8][9] or legged robots [10,11].…”

Section: Introductionmentioning

confidence: 99%

Accurate motion control of a servopneumatic system using integral sliding mode control

Carneiro

Almeida

2014

Int J Adv Manuf Technol

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“…It is composed of rubber tube and non-stretchable mesh and shrinks about 25%. It is used in various scenes, such as worm-like robot [8], quadruped robot [9], humanoid [10,11], and infant robot [12], due to its safeness. Some soft robots are also driven by jamming and pneumatic actuator [13,14].…”

Section: Introductionmentioning

confidence: 99%

Water Driven Soft Actuator

Matsumoto¹

2018

ASI

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In this paper, a water driven soft actuator is introduced. Soft actuators driven by various external stimuli, such as air pressure, temperature, pH, electric field, and light have been reported in the past. Although they are very attractive, they often require hard external devices for driving and the response speeds are often slow. The developed water driven actuator was with sodium polyacrylate wrapped by stretchable meshed nylon. Through some experiments, it was confirmed that swell and shrink phenomena of the developed device occur depending on the fluid flow. The phenomena could be found when adequate quantity of sodium polyacrylate was inside of the nylon. The amount of sodium polyacrylate that is required for the phenomenon was investigated. Through the experiments, it was confirmed that the displacement and the response speed of the swell and shrink were large and fast, respectively, in spite of its simple implementation.

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“…It has 4 links and 9 muscles in each forelimb and 3 links and 7 muscles in each hindlimb. In our previous studies [7], [8], we focused on only hindlimbs or forelimbs and proposed a sole reflexbased control system. First, we built a Pneupard's hindlimbs and successfully made the robot walk on a treadmill [7].…”

Section: Introductionmentioning

confidence: 99%

Realization of three-dimensional walking of a cheetah-modeled bio-inspired quadruped robot

Nakatsu

Rosendo

Shimizu

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Adaptability of quadruped animals is not solely reached by brain control, but by the interaction between its body, environment, and control. Especially, morphology of the body is supposed to contribute largely to the adaptability. We have tried to understand quadrupedal locomotion by building a bio-inspired quadruped robot named "Pneupard", which has a feline-like muscular-skeletal structure. In our previous study, we successfully realized alternative gait of hindlimbs by reflex control based on the sole touch information, which is called an unloading rule, and that of forelimbs as well. In this paper, we finally connect forelimbs and hindlimbs by a rigid spine, and conduct 3D walking experiments only with the simple unloading rule. Through several preliminary experiments, we realize that the touch information on the sole is the most critical for stable 3D walking.

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Pneupard: A biomimetic musculoskeletal approach for a feline-inspired quadruped robot

Cited by 25 publications

References 24 publications

Accurate motion control of a servopneumatic system using integral sliding mode control

Accurate motion control of a servopneumatic system using integral sliding mode control

Water Driven Soft Actuator

Realization of three-dimensional walking of a cheetah-modeled bio-inspired quadruped robot

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