DocumentCode
1537405
Title
Design, analysis, and control of a low power joint for walking robots, by phasic activation of McKibben muscles
Author
Van der Linde, Richard Q.
Author_Institution
Delft Univ. of Technol., Netherlands
Volume
15
Issue
4
fYear
1999
fDate
8/1/1999 12:00:00 AM
Firstpage
599
Lastpage
604
Abstract
Describes the development of an efficient mechanical oscillator. It is capable of combining the energetic advantages of ballistic movement with cycle adjustability and active orbital control. Pneumatic artificial McKibben muscles are used as variable springs, from which the stiffness is varied in order to induce a limit cycle
Keywords
actuators; control system synthesis; legged locomotion; limit cycles; pneumatic control equipment; McKibben muscles; active orbital control; ballistic movement; cycle adjustability; low power joint; mechanical oscillator; phasic activation; stiffness; variable springs; walking robots; Actuators; Energy consumption; Frequency; Legged locomotion; Limit-cycles; Muscles; Oscillators; Recycling; Rehabilitation robotics; Springs;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.781963
Filename
781963
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