Frank Daerden

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This paper reports on the second generation of the Pleated Pneumatic Artificial Muscle (PPAM) which has been developed to extend the life span of its first prototype. This type of artificial was developed to overcome dry friction and material deformation which is present in the widely used McKibben type of artificial muscle. The essence of the PPAM is its(More)
The NOMAD instrument has been designed to best fulfil the science objectives of the ExoMars Trace Gas Orbiter mission that will be launched in 2016. The instrument is a combination of three channels that cover the UV, visible and IR spectral ranges and can perform solar occultation, nadir and limb observations. In this series of two papers, we present the(More)
This paper reports on the bipedal robot Lucy which is actuated by pleated pneumatic artificial muscles. This novel actuator is very suitable to be used in machines which move by means of legs. Besides its high power to weight ratio the actuator has an adaptable passive behavior, meaning the stiffness of the actuator can be changed on-line. This allows to(More)
Kikuuwe and Fujimoto have introduced proxy-based sliding mode control. It combines responsive and accurate tracking during normal operation with smooth, slow recovery from large position errors that can sometimes occur after abnormal events. The method can be seen as an extension to both conventional PID control and sliding mode control. In this paper,(More)
NOMAD is a spectrometer suite on board ESA's ExoMars trace gas orbiter due for launch in January 2016. NOMAD consists of two infrared channels and one ultraviolet and visible channel allowing the instrument to perform observations quasi-constantly, by taking nadir measurements at dayside and nightside, and during solar occultations. In this paper, the(More)
This paper reports on the concept of combining passive behaviour with an active control strategy using Pleated Pneumatic Artificial Muscles. These actuators have a very high power to weight ratio and an inherent adaptable compliance which makes them extremely suitable for legged machines. Lucy, our Bipedal robot, is equipped with these muscles in order to(More)