Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
  • text
  • asciidoc
  • rtf
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.
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, 241-246 p., 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. 241-246 p., 7984125
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65602DOI: 10.1109/MED.2017.7984125Scopus ID: 2-s2.0-85028518321ISBN: 9781509045334 (electronic)OAI: oai:DiVA.org:ltu-65602DiVA: 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: 2017-09-15Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Andrikopoulos, GeorgiosNikolakopoulos, George
By organisation
Signals and Systems
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 13 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
  • text
  • asciidoc
  • rtf