Transcription of Identification and control of a pneumatic robot
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Identification and control of a pneumatic robot
Identification and control of a pneumatic robotEmanuel Todorov1,ChunyanHu1, Alex Simpkins1and Javier Movellan21 Applied Mathematics and Computer Scienceand Engineering, University of Washington2 Institute for Neural Computation, University of California San DiegoAbstract pneumatic actuators have a number of advantagesover electric motors, including strength-to-weight ratio, tunablecompliance at the mechanism level, robustness, as well as properties are in many ways similar to muscle properties,which further makes them a good choice for bio-inspired roboticdesigns. However they are considered harder to control , on modeling and controlof a 2-dof robot , as well as preliminary results on a state-of-the-art 38-dof humanoid. Contrary to popular belief, we foundit surprisingly easy to work withthese pneumatically-actuatedrobots and obtained high tracking performance.
Identification and control of a pneumatic robot Emanuel Todorov 1,ChunyanHu, Alex Simpkins1 and Javier Movellan2 1Applied Mathematics and Computer Science and Engineering, University of Washington 2 Institute for Neural Computation, University of California San Diego Abstract—Pneumatic actuators have a number of advantages over electric motors, including strength-to-weight ratio, tunable
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