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HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-9399-7801
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2018 (English)In: Meccanica (Milano. Print), ISSN 0025-6455, E-ISSN 1572-9648, Vol. 53, no 1-2, p. 465-480Article in journal (Refereed) Published
Abstract [en]

In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid for compliance and postural control, while serving as a knowledge basis for its future alternative use in prosthetic robotics. HURL’s design properties are described in detail, while its 2-DoF motion capabilities (dorsiflexion–plantar flexion, eversion–inversion) are experimentally evaluated via an advanced nonlinear PID-based control algorithm.

Place, publisher, year, edition, pages
Springer, 2018. Vol. 53, no 1-2, p. 465-480
Keywords [en]
pneumatic muscle actuators, robotic leg, humanoid systems, Nonlinear PID control
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65436DOI: 10.1007/s11012-017-0738-6ISI: 000424460100029OAI: oai:DiVA.org:ltu-65436DiVA, id: diva2:1137461
Projects
BAHRT (Vetenskapsradet - Grant No. 2014-3381)
Funder
Swedish Research Council, 2014-3381
Note

Validerad;2018;Nivå 2;2018-02-09 (rokbeg)

Available from: 2017-08-31 Created: 2017-08-31 Last updated: 2018-03-02Bibliographically approved

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Andrikopoulos, GeorgeNikolakopoulos, George

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