Design and control of a robotic leg with braided pneumatic actuators Export

@inproceedings{citeulike:701217, abstract = {A four-DOF planar robotic leg actuated with McKibben artificial muscles was designed, constructed, and controlled. Both position and passive stiffness were independently controllable at each joint. The tunable passive stiffness properties of the actuators provided stable, forward walking for the robot. A benefit of passive joint stiffness is energy efficiency. Results indicate that the leg may be capable of walking on a horizontal plane with its control valves off 90\% of the time. The muscle-like properties of these actuators, including high strength-to-weight ratio, tunable passive stiffness, and self-limiting force output, make them well suited for legged robots}, author = {Colbrunn, R. W. and Nelson, G. M. and Quinn, R. D.}, citeulike-article-id = {701217}, citeulike-linkout-0 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=976298}, citeulike-linkout-1 = {http://biorobots.cwru.edu/publications/IROS01_Colbrunn_ControlBPA.pdf}, journal = {Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on}, keywords = {artificial-muscle, leg, mckibben, pneumatic}, pages = {992--998 vol.2}, posted-at = {2006-06-19 16:48:26}, priority = {2}, title = {Design and control of a robotic leg with braided pneumatic actuators}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=976298}, volume = {2}, year = {2001} }

TY - CONF ID - citeulike:701217 L3 - citeulike-article-id:701217 N2 - A four-DOF planar robotic leg actuated with McKibben artificial muscles was designed, constructed, and controlled. Both position and passive stiffness were independently controllable at each joint. The tunable passive stiffness properties of the actuators provided stable, forward walking for the robot. A benefit of passive joint stiffness is energy efficiency. Results indicate that the leg may be capable of walking on a horizontal plane with its control valves off 90% of the time. The muscle-like properties of these actuators, including high strength-to-weight ratio, tunable passive stiffness, and self-limiting force output, make them well suited for legged robots JF - Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on EP - 998 vol.2 TI - Design and control of a robotic leg with braided pneumatic actuators VL - 2 SP - 992 KW - artificial-muscle KW - leg KW - mckibben KW - pneumatic AU - Colbrunn, RW AU - Nelson, GM AU - Quinn, RD PY - 2001/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=976298 ER -