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A Seven-degrees-of-freedom Robot-arm Driven by Pneumatic Artificial Muscles for Humanoid Robots
- Source :
- The International Journal of Robotics Research, The International Journal of Robotics Research, SAGE Publications, 2005, 24 (4), p.257-274. ⟨10.1177/0278364905052437⟩, The International Journal of Robotics Research, 2005, 24 (4), p.257-274. ⟨10.1177/0278364905052437⟩
- Publication Year :
- 2005
- Publisher :
- HAL CCSD, 2005.
-
Abstract
- International audience; Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robot-arms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle were very well emphasized in the 1980s by the development of the Bridge-stone " soft robot " actuated by " rubbertuators ". Recent publications have presented ways for modeling McKibben artificial muscle as well as controlling its highly non-linear dynamic behavior. However , fewer studies have concentrated on analyzing the integration of artificial muscles with robot-arm architectures since the first Bridge-stone prototypes were designed. In this paper we present the design of a 7R anthropomorphic robot-arm entirely actuated by antagonistic McKibben artificial muscle pairs. The validation of the robot-arm architecture was performed in a teleoperation mode.
- Subjects :
- 0209 industrial biotechnology
Engineering
02 engineering and technology
Degrees of freedom (mechanics)
artificial muscle
050105 experimental psychology
[SPI.AUTO]Engineering Sciences [physics]/Automatic
anthropomorphic robot-arm
020901 industrial engineering & automation
Artificial Intelligence
Braid
0501 psychology and cognitive sciences
Electrical and Electronic Engineering
business.industry
Applied Mathematics
Mechanical Engineering
05 social sciences
McKibben muscle
Control engineering
Pneumatic artificial muscles
Modeling and Simulation
Teleoperation
Robot
Artificial muscle
business
Robotic arm
Software
Humanoid robot
Subjects
Details
- Language :
- English
- ISSN :
- 02783649 and 17413176
- Database :
- OpenAIRE
- Journal :
- The International Journal of Robotics Research, The International Journal of Robotics Research, SAGE Publications, 2005, 24 (4), p.257-274. ⟨10.1177/0278364905052437⟩, The International Journal of Robotics Research, 2005, 24 (4), p.257-274. ⟨10.1177/0278364905052437⟩
- Accession number :
- edsair.doi.dedup.....54374526a5bccd6ce046430d5ef7b671
- Full Text :
- https://doi.org/10.1177/0278364905052437⟩