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Design, development and control of a human-inspired two-arm robot 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: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 241-246, article id 7984125Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the design and implementation of a 10 Degree-of-Freedom (DoF) human-inspired two-arm robot is presented. Multiple Pneumatic Artificial Muscles (PAMs) in antagonistic formations are incorporated for undertaking the two arms' movements, while the design goal is the replication of human-like motion patterns, described by smoothness, inherent compliance and accuracy. To evaluate the feasibility of the proposed concept, the 10-DoF robot is developed and experimentally tested in open and closed-loop control scenarios via the use of a multiple Advanced Nonlinear PID (ANPID) based scheme.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 241-246, article id 7984125
Series
Mediterranean Conference on Control and Automation, ISSN 2325-369X
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65602DOI: 10.1109/MED.2017.7984125ISI: 000426926300040Scopus ID: 2-s2.0-85028518321ISBN: 9781509045334 (electronic)OAI: oai:DiVA.org:ltu-65602DiVA, id: diva2:1140527
Conference
25th Mediterranean Conference on Control and Automation, MED 2017, University of Malta, Valletta, Malta, 3-6 July 2017
Available from: 2017-09-12 Created: 2017-09-12 Last updated: 2018-04-05Bibliographically approved

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Andrikopoulos, GeorgiosNikolakopoulos, George

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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