Title :
Qualitative synthesis of deformable cylindrical actuators through constraint topology
Author :
Hirai, Shinichi ; Cusin, Pierre ; Tanigawa, Hiroki ; Masui, Tomohiro ; Konishi, Satoshi ; Kawamura, Sadao
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan
Abstract :
Behavior of deformable cylindrical actuators is qualitatively investigated with respect to constraint topology. Elastic shells expanded by air pressure have a capability of generating various motion directly by imposing mechanical constraints on the shells. In this paper, we propose a qualitative analysis of the motion of deformable cylindrical actuators with mechanical constraints
Keywords :
actuators; pressure sensors; air pressure; constraint topology; deformable cylindrical actuators; mechanical constraints; qualitative analysis; qualitative synthesis; Control system synthesis; Humans; Mechanical systems; Mechanical variables control; Motion control; Pneumatic actuators; Power generation; Robots; Signal synthesis; Topology;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894604
