NDLI: Antagonistically actuated compliant joint: Torque and stiffness control

Content Provider	IEEE Xplore Digital Library
Author	Sardellitti, I. Palli, G. Tsagarakis, N.G. Caldwell, D.G.
Copyright Year	2010
Description	Author affiliation: Advanced Robotics Lab., Italian Institute of Technology, Genoa, Italy (Sardellitti, I.; Tsagarakis, N.G.; Caldwell, D.G.) \|\| Department of Electronics, Computer Science and Systems, University of Bologna, Italy (Palli, G.)
Abstract	The current research effort in the design of lightweight and safe robots is resulting in increased interest for the development of variable stiffness actuators. Antagonistic pneumatic muscle actuators (pMAs) have been proposed for this purpose, due to their inherent nonlinear spring behavior resulting from both air compressibility and their nonlinear force-length relation. This paper addresses the simultaneous torque and stiffness control of an antagonistically actuated joint with pneumatic muscles driven by compact, fast-switching solenoid valves. This strategy allows compensation of unmodeled joint dynamics while adjusting the joint stiffness depending on the task requirements. The proposed controller is based on a sliding mode force control applied to an average model of the valve-pneumatic muscle system. This was necessary to cope with both the well known model uncertainties of the pMA and the discontinuous on-off behavior of the solenoid valves. Preliminary experimental results verified the effectiveness of the proposed implementation.
Starting Page	1909
Ending Page	1914
File Size	1257796
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651277
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Valves Joints Force Torque Robots Solenoids
Content Type	Text
Resource Type	Article

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