Position and compliance control of an artificial muscle manipulator using a mechanical equilibrium model

@article{Maeda2008PositionAC,
  title={Position and compliance control of an artificial muscle manipulator using a mechanical equilibrium model},
  author={H. Maeda and H. Nagai and H. Saito and T. Nakamura},
  journal={2008 34th Annual Conference of IEEE Industrial Electronics},
  year={2008},
  pages={3431-3436}
}
  • H. Maeda, H. Nagai, +1 author T. Nakamura
  • Published 2008
  • Engineering
  • 2008 34th Annual Conference of IEEE Industrial Electronics
  • Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these muscles have highly nonlinear characteristics, as well as high compliance and a strong hysteresis… CONTINUE READING

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