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- Andrikopoulos, Georgios, et al.
(författare)
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Towards the development of a novel upper-body pneumatic humanoid: Design and implementation
- 2016
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Ingår i: 2016 European Control Conference, ECC 2016. - Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE). - 9781509025916 ; , s. 395-400
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Konferensbidrag (refereegranskat)abstract
- In this article, the conceptual design of a 14 Degree-of-Freedom (DOF) upper-body pneumatic humanoid is presented. The movement capabilities of this novel robotic setup are achieved via Pneumatic Artificial Muscles (PAMs), a form of actuation possessing crucial attributes for the development of biologically-inspired robots. To evaluate the feasibility of the humanoid’s design properties, a 5-DOF robotic arm is developed and experimentally tested, while being studied from the scope of implementing a robotic structure capable of producing smooth and human-like motion responses, while maintaining the inherent compliance provided by the PAM technology.
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