ICRA 2012 Paper Abstract


Paper TuD03.1

Ariga, Yohei (Osaka university), Pham, Hang (Graduate School of Engineering Science, Osaka University), Uemura, Mitsunori (Ritsumeikan Univ.), Hirai, Hiroaki (Graduate School of Engineering Science, Osaka University), Miyazaki, Fumio (Graduate School of Engineering Science, Osaka University)

Novel Equilibrium-Point Control of Agonist-Antagonist System with Pneumatic Artificial Muscles

Scheduled for presentation during the Regular Session "Cable-Driven Mechanisms" (TuD03), Tuesday, May 15, 2012, 16:30−16:45, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Tendon/Wire Mechanism, Rehabilitation Robotics, Neurorobotics


This paper presents a novel method for controlling a single-joint robot arm driven by two pneumatic artificial muscles (PAMs). We introduce the concepts of the agonist-antagonist muscle-pairs ratio (A-A ratio) and the agonist-antagonist muscle-pairs activity (A-A activity), and demonstrate that our concepts enable separate linear control of the equilibrium joint angle and joint stiffness. We also discuss our approach in comparison with the equilibrium-point (EP) hypothesis.



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