Adjustment of pressure in antagonistic joints with pneumatic artificial muscles for rapid reacting motions

Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Rapid reacting motions are important for robots to adjust to changes in the real world, which is constantly changing drastically. Pneumatic artificial muscles (PAMs) have been used as actuators of fast-moving robots. Robots equipped with PAMs can move adaptively and dynamically using passive properties of PAMs. In this study, we considered preparation for fast reacting motions by robots equipped with joints driven by competing PAMs (antagonistic PAMdriven joints) as using active properties of PAMs. Specifically, we investigated a method of adjusting initial pressures in PAM-driven joints increasing the maximum joint velocity generated in a short time. We found the optimal initial pressure in PAM-driven joints considering a mechanical delay of PAMs in simulations. Additionally, we verified the validity of results in the simulations using an actual robotic arm.

Original languageEnglish
Title of host publicationMobile Service Robotics
Subtitle of host publicationProceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
EditorsKrzysztof Kozlowski, Mohammad O Tokhi, Gurvinder S Virk, Gurvinder S Virk, Gurvinder S Virk
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages183-190
Number of pages8
ISBN (Print)9789814623346
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014 - Poznan, Poland
Duration: Jul 21 2014Jul 23 2014

Publication series

NameMobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Conference

Conference17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014
CountryPoland
CityPoznan
Period7/21/147/23/14

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction
  • Artificial Intelligence

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