Identification and control of a pneumatic robot

2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Volumn , Issue , 2010, Pages 373-380

  Todorov, Emanuel ^a   Hu, Chunyan ^a   Simpkins, Alex ^a   Movellan, Javier ^b  

^a UNIVERSITY OF WASHINGTON   (United States)

^b UNIVERSITY OF CALIFORNIA SAN DIEGO   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BIO-INSPIRED ROBOTICS; EXPERIMENTAL DATA; FEEDBACK CONTROLLER; MODEL-BASED; MODELING AND CONTROL; MUSCLE PROPERTIES; PARAMETRIC MODELS; PNEUMATIC ACTUATOR; PNEUMATIC ROBOT; STRENGTH TO WEIGHT RATIO; TRACKING PERFORMANCE;

MUSCLE; PNEUMATICS; ROBOTICS;

ROBOTS;

EID: 78650475212     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2010.5627779     Document Type: Conference Paper

References (15)

1. S. Liu and J. E. Bobrow, "An analysis of a pneumatic servo system and its application to a computer-controlled robot, " Journal of Dynamic Systems, Measurement, and Control, vol. 110, no. 3, pp. 228-235, 1988.
2. K. Khayati, P. Bigras, and L.-A. Dessaint, "Lugre model-based friction compensation and positioning control for a pneumatic actuator using multi-objective output-feedback control via lmi optimization, " Mechatronics, vol. 19, no. 4, pp. 535 - 547, 2009.
3. C. M. J.Y. Lai and R. Singh, "Accurate position control of a pneumatic actuator, " Journal of Dynamic Systems, Measurement, and Control, vol. 112, pp. 734-739, 1990.
4. B. McDonell and J. Bobrow, "Adaptive tracking control of an air powered robot actuator, " Journal of Dynamic Systems, Measurement, and Control, vol. 115, p. 427, 1993.
5. D. Caldwell, G. Medrano-Cerda, and M. Goodwin, "Control of pneumatic muscle actuators, " Control Systems Magazine, IEEE, vol. 15, no. 1, pp. 40-48, Feb 1995.
6. G. A. Medrano-Cerda and C. J. Bowler, "Adaptive position control of antagonistic pneumatic muscle actuators, " in IROS '95 1995, p. 378.
7. G. Tonietti and A. Bicchi, "Adaptive simultaneous position and stiffness control for a soft robot arm, " in Intelligent Robots and Systems, 2002.
8. D. Caldwell, G. Medrano-Cerda, and M. Goodwin, "Braided pneumatic actuator control of a multi-jointed manipulator, " in Systems, Man and Cybernetics, pp. 423-428 vol.1, 1993.
9. J. Schröder, K. Kawamura, T. Gockel1, and R. Dillmann, "Improved control of a humanoid arm driven by pneumatic actuators, " in Proceedings of Humanoids 2003, 2003.
10. T. Acarman, C. Hatipoglu, and U. Ozguner, "A robust nonlinear controller design for a pneumatic actuator, " in American Control Conference, vol. 6, pp. 4490-4495, 2001.
11. M. Van Damme, B. Vanderborght, B. Verrelst, R. Van Ham, F. Daerden, and D. Lefeber, "Proxy-based sliding mode control of a planar pneumatic manipulator, " Int. J. Rob. Res., vol. 28, no. 2, pp. 266-284, 2009.
12. P. Carbonell, Z. Jiang, and D. Repperger, "Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode, " in Control Applications, pp. 167-172, 2001. (Pubitemid 34089893)
13. Y.-C. Tsai and A.-C. Huang, "Multiple-surface sliding controller design for pneumatic servo systems, " Mechatronics, vol. 18, no. 9, pp. 506 - 512, 2008.
14. J. Movellan, "A Pneumatic Cylinder Model, " Machine Perception Laboratory Tutorials, http://mplab.ucsd.edu, 2009.
15. E. Todorov and W. Li. "A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems", American Control Conference, pp 300-306, 2005.