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— In this paper the feed-forward control structure is introduced for a manipulator joint driven by a set of symmetrical antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces and produces the pressure signal for the muscles' supplying valves based upon the manipulator kinematic and the(More)
An important aim of the current research effort in artificial intelligence and robotics is to achieve cooperative agent behavior for teams of robots in real-world scenarios. Especially in the RoboCup scenario , but also in other projects like Nexus, agents have to cooperate efficiently to reach certain goals. In the RoboCup project, cooperative team-play(More)
— Pneumatic artificial muscles feature lightweight and compact design, in combination with high obtainable forces and an intrinsic compliance. This makes them well suited for the actuation of kinematic redundant manipulators, but due to limited deflection of the muscles and highly nonlinear static and dynamic characteristics, new challenges arises. In this(More)