Development of an antagonistic bionic joint controller for a musculoskeletal quadruped

@article{Wang2013DevelopmentOA,
  title={Development of an antagonistic bionic joint controller for a musculoskeletal quadruped},
  author={Xin Wang and Mantian Li and Wei Guo and Pengfei Wang and Lining Sun},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4466-4471}
}
In this paper, a joint control algorism was proposed to implement on our musculoskeletal robot. The joints are all actuated by pneumatic muscles and have antagonistic structure. In order to gain a better performance, we first modeled the pneumatic muscle, and then considering the dynamics two control method was discussed and compared. As a tradeoff of… CONTINUE READING