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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.
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, 1637-1642 p., 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. 1637-1642 p., 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: 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: 2017-09-15Bibliographically approved

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