DocumentCode
2407301
Title
Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles
Author
Ariga, Yohei ; Pham, Hang T T ; Uemura, Mitsunori ; Hirai, Hiroaki ; Miyazaki, Fumio
Author_Institution
Dept. of Mech. Sci. & Bioeng., Osaka Univ., Toyonaka, Japan
fYear
2012
fDate
14-18 May 2012
Firstpage
1470
Lastpage
1475
Abstract
This paper presents a novel method for controlling a single-joint robot arm driven by two pneumatic artificial muscles (PAMs). We introduce the concepts of the agonist-antagonist muscle-pairs ratio (A-A ratio) and the agonist-antagonist muscle-pairs activity (A-A activity), and demonstrate that our concepts enable separate linear control of the equilibrium joint angle and joint stiffness. We also discuss our approach in comparison with the equilibrium-point (EP) hypothesis.
Keywords
manipulators; A-A activity; A-A ratio; PAM; agonist-antagonist muscle-pairs activity; agonist-antagonist muscle-pairs ratio; agonist-antagonist system; equilibrium-point hypothesis; novel equilibrium-point control; pneumatic artificial muscles; single-joint robot arm; Equations; Force; Humans; Joints; Mathematical model; Muscles; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6224662
Filename
6224662
Link To Document