Abstract
AbstractPower soft robots—defined as novel robots driven by powerful soft actuators, achieving both powerfulness and softness—are potentially suitable for complex collaborative tasks, and an approach to actuating a power soft robot is the McKibben artificial muscle. This study aims to show the potential of hydraulic artificial muscles to be implemented in a power soft robot with high safety, including higher stability against sudden load separation or impact disturbance, and appropriate dynamic compliance. The stability of a manipulator arm driven by hydraulic muscle actuators is experimentally proven to be higher than that of pneumatic muscle actuators when the stored elastic energy is instantaneously released. Therefore, the hydraulic muscle actuator is a better candidate for actuating a power soft robot. By taking advantage of the incompressible liquid medium and the compliant structure of a hydraulic muscle, a second-order impedance control strategy with a braking method is proposed to improve dynamic compliance without sacrificing the safety features of hydraulic muscles. The results show that the manipulator can be easily shifted by a several-kilogram-level external force and react safely against sudden load change with low angular velocity by the proposed impedance control.
Funder
Japan Society for the Promotion of Science
Publisher
Springer Science and Business Media LLC
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering,Instrumentation,Modeling and Simulation
Reference15 articles.
1. Caldwell DG, Medrano-Cerda GA, Goodwin M (1995) Control of pneumatic muscle actuators. IEEE Control Syst Mag 15(1):40–48
2. Bicchi A, Rizzini SL, Tonietti G (2001) Compliant design for intrinsic safety: General issues and preliminary design. In: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No. 01CH37180), vol. 4, pp. 1864–1869. IEEE
3. Blackburn J, Reethof G, Shearer JL (1960) Fluid power control. Wiley, New York
4. Tiwari R, Meller MA, Wajcs KB, Moses C, Reveles I, Garcia E (2012) Hydraulic artificial muscles. J Intell Mater Syst Struct 23(3):301–312
5. Focchi M, Guglielmino E, Semini C, Parmiggiani A, Tsagarakis N, Vanderborght B, Caldwell DG (2010) Water/air performance analysis of a fluidic muscle. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2194–2199. IEEE
Cited by
9 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献