Title :
Stability analysis of robot motions driven by McKibben pneumatic actuator
Author :
Sugimoto, Yasuhiro ; Naniwa, Keisuke ; Osuka, Koichi
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Suita, Japan
Abstract :
It is well known that a robot driven by a McKibben pneumatic actuator generates stable motion in spite of its simple control and simple actuator model. However, how the characteristics of the McKibben pneumatic actuator act on the stability of a robots motion has not been sufficiently discussed. In this paper, a physical model of the McKibben pneumatic actuator is derived and the stability of a robot which is driven by the McKibben pneumatic actuator is analyzed.
Keywords :
motion control; path planning; pneumatic actuators; robot dynamics; stability; McKibben pneumatic actuator; robot motions; stability analysis;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5652881
