NDLI: Modeling and control of a Pneumatic-Electric hybrid system

Content Provider	IEEE Xplore Digital Library
Author	Teramae, T. Noda, T. Sang-Ho Hyon Morimoto, J.
Copyright Year	2013
Description	Author affiliation: Dept. of Brain Robot Interface, ATR Comput. Neurosci. Labs., Kyoto, Japan (Teramae, T.; Noda, T.; Sang-Ho Hyon; Morimoto, J.)
Abstract	We introduce our Pneumatic-Electric (PE) hybrid actuator model and propose to use the model to derive a controller for the hybrid actuation system by an optimal control method. Our PE hybrid actuator is composed of Pneumatic Artificial Muscle (PAM) and an electric motor. The PE hybrid actuator is light and can generate large torque. These properties are desirable for assistive devices such as exoskeleton robots. However, to maximally take advantage of PE hybrid system, we need to reasonably distribute necessary torque to these redundant actuators by properly taking distinctive characteristics of a pneumatic actuator and an electric motor into account. To do this, in this study, we use an optimal control method called iterative LQG to reasonably distribute the necessary torque to the PAM and the electric motor. The crucial issue to apply the optimal control method to the PE hybrid system is PAM modeling. We built a PAM model composed of three elements: 1) an (air)pressure-force conversion model, 2) a contraction rate model, 3) time delay of the air valve, and 4) the upper limit of force generation that depends on the contraction rate and the movable range. We apply our proposed method to a one degree of freedom (one-DoF) arm with PE hybrid actuator. The one-DoF arm successfully swing tasks 0.5 Hz, 2 Hz and 4 Hz and swing up and stability task by reasonably distributing necessary torque to the two different actuators in a simulated and a real environments.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4887
Ending Page	4892
File Size	597829
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697061
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Force Actuators Atmospheric modeling Mathematical model Joints Optimal control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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