A multi level control architecture for a pneumatic robotic leg

IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

Volumn 2 2 OF 2 VOL, Issue , 2005, Pages 773-779

  Muscato, Giovanni ^a   Spampinato, Giacomo ^a  

^a UNIVERSITY OF CATANIA   (Italy)

Author keywords

Biped locomotion; Control loop; COP; Pneumatic actuators; Walking robot

Indexed keywords

MULTI LEVEL CONTROL ARCHITECTURE; PNEUMATIC ACTUATORS; PNEUMATIC ROBOTIC LEGS; WALKING ROBOTS;

COMPUTER ARCHITECTURE; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; SENSORS;

INDUSTRIAL ROBOTS;

EID: 33847328011     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. G.Muscato, G. Spampinato, "A Pneumatic Human inspired robotic Leg: Control Architecture and Kinematical Overview", Accepted for publication in the "International Journal of Humanoid Robotics" May 2005.
2. B. Verrelst, R. Van Ham, J. Vermeulen, D. Lefeber, F. Daerden. "Concept of Combining Adaptable Passive Behaviour with an Active Control Structure Using Pleated Pneumatic Artifcial Muscles for the Bipedal Robot LUCY" International conference on humanoid Robots Humanoids2003, Karlsruhe and Munich, Germany, October 2003.
3. P. Artrit and D.G. Caldwell: "Single support balancing of a pneumatic biped" Proc. Int. Conf. Climbing and Walking Robots, pp.835-842, 2001.
4. Davies S. T., Caldwell D. G.: "The Biomimetic Design of a Robot Primate using Pneumatic Muscle Actuators", Proc. Int. Conf. Climbing and Walking Robots,2001.
5. S. Chillari, S. Guccione and G. Muscato, "An Experimental Comparison Between Several Pneumatic Position Control Methods", 40th IEEE Conference on Decision and Control, Orlando, USA, Dec. 2001.
6. G.Muscato, G. Spampinato, "A Human inspired Five Dof robotic Leg: Kinematical Model and Control Architecture Overview", Submitted to "Mechatronics" June 2005.
7. G. Muscato, S. Spampinato" Kinematical behavior analysis and walking pattern generation of a five degrees of freedom pneumatic robotic leg ", 7th International Conference on Climbing and Walking Robots CLAWAR 2004, Madrid (Spain),22-24 September 2004.
8. "Modeling and Control of Robot Manipulators": Sciavicco - Siciliano, McGraw-Hill, 1996
9. Vukobratovic M., Borovac B., "Zero Moment Point -Thirty five years of its life", International Journal of Humanoid Robotics, Vol. 1 (2004) pp. 157-173.