Static and dynamic characteristics of McKibben pneumatic actuator for realization of stable robot motions


A robot driven by a McKibben pneumatic actuator generates stable motion despite its simple control and simple actuator model. However, how its characteristics act on the stability of robot motion have not been sufficiently discussed. In this paper, a model of the McKibben pneumatic actuator is derived in which the actuator characteristics are considered. In… (More)
DOI: 10.1109/IROS.2011.6094792


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