Design, development and control of a human-inspired two-arm robot via Pneumatic Artificial Muscles

• 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.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Keyword

Reglerteknik

Control Engineering

Publication and Content Type

ref (subject category)

kon (subject category)