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Towards the Development of a Novel Upper-Body Pneumatic Humanoid: Design and Implementation
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
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
Luleå University of Technology, Department of Arts, Communication and Education, Music and dance.ORCID iD: 0000-0002-3427-7281
Number of Authors: 42016 (English)In: 2016 European Control Conference, ECC 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 395-400, article id 7810317Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the conceptual design of a 14 Degree-of-Freedom (DOF) upper-body pneumatic humanoid is presented. The movement capabilities of this novel robotic setup are achieved via Pneumatic Artificial Muscles (PAMs), a form of actuation possessing crucial attributes for the development of biologically-inspired robots. To evaluate the feasibility of the humanoid’s design properties, a 5-DOF robotic arm is developed and experimentally tested, while being studied from the scope of implementing a robotic structure capable of producing smooth and human-like motion responses, while maintaining the inherent compliance provided by the PAM technology.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 395-400, article id 7810317
Keywords [en]
Robotics, Information technology - Automatic control
Keywords [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering Music
Research subject
Control Engineering; Musical Performance
Identifiers
URN: urn:nbn:se:ltu:diva-28632DOI: 10.1109/ECC.2016.7810317ISI: 000392695300064Scopus ID: 2-s2.0-85015088100Local ID: 2806b389-8ca5-4483-8ca5-2195ba4c92f1ISBN: 9781509025916 (electronic)OAI: oai:DiVA.org:ltu-28632DiVA, id: diva2:1001834
Conference
2016 European Control Conference, ECC 2016, Aalborg, Denmark, June 29-July 1, 2016
Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-02-22Bibliographically approved

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Andrikopoulos, GeorgiosNikolakopoulos, GeorgeKominiak, DariuszUnander-Scharin, Åsa

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