Control input converter for robot's leg joint with parallel actuation configuration

  title={Control input converter for robot's leg joint with parallel actuation configuration},
  author={Addie Irawan and Hoe Lih Jiun and Md Moktadir Alam},
  journal={8th International Conference on Electrical and Computer Engineering},
This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is designed to translating a desired signal to the linear actuator from any close-loop control input. This simple algorithm is developed from… CONTINUE READING


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