Title :
Joint control of the six-legged robot AirBug driven by fluidic muscles
Author :
Kerscher, T. ; Albiez, J. ; Berns, K.
Author_Institution :
Forschungszentrum Informatik, Karlsruhe Univ., Germany
Abstract :
Pneumatic muscles as actuators offer several advantages due to their performance weight relation or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. The main focus lies on the control concept of the antagonistic actuators.
Keywords :
actuators; legged locomotion; mechatronics; pneumatic systems; prosthetics; actuators; fluidic muscles; insect-like robot; locomotion; mechatronics; pneumatic muscles; power stroke energy; rough terrain; six-legged robot airbug; Animals; Climbing robots; Contacts; Foot; Gears; Legged locomotion; Mechatronics; Muscles; Pneumatic actuators; Propulsion;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177079
