Joint control of the six-legged robot AirBug driven by fluidic muscles

被引：14

作者：

Kerscher, T ^{[1
]}

Albiez, J ^{[1
]}

Berns, K ^{[1
]}

机构：

[1] Univ Karlsruhe, Forchungszentrum Informat, FZI, Interact Diag & Serv Syst, D-76131 Karlsruhe, Germany

来源：

ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年

关键词：

D O I：

10.1109/ROMOCO.2002.1177079

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Pneumatic muscles as actuators offer several advantages due to their performance weight relation, or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. Main focus lies on the control concept of the antagonistic actuators.

引用

页码：27 / 32

页数：6

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