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On the design, development and motion control of a HUmanoid Robotic Leg via pneumatic artificial muscles
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
2017 (English)In: 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Piscataway, NJ, 2017, p. 1637-1642, article id 7866562Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the design and implementation of a HUmanoid Robotic Leg (HURL) is presented. The motion of the HURL is achieved via pneumatic muscle actuators, a pneumatic form of actuation possessing crucial attributes for the implementation of a biomimetic design that mimics the motion characteristics of a human ankle. The HURL's 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
Piscataway, NJ, 2017. p. 1637-1642, article id 7866562
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-63044DOI: 10.1109/ROBIO.2016.7866562ISI: 000405724600275Scopus ID: 2-s2.0-85016730339ISBN: 9781509043644 (electronic)OAI: oai:DiVA.org:ltu-63044DiVA, id: diva2:1088917
Conference
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3-6 December 2016
Available from: 2017-04-18 Created: 2017-04-18 Last updated: 2017-12-18Bibliographically approved

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Andrikopoulos, GeorgiosNikolakopoulos, George

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