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Titel:

Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Toedtheide, A.; Lilge, T.; Haddadin, S.
Abstract:
This letter presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on transferring soft-robotics control concepts from classical motor-gear-torque sensor setups to pneumatic systems, with the goal of achieving similar performance levels in comparison to this well established technology. A detailed flexible joint model is derived that incorporates the p...     »
Stichworte:
Actuators; Force; Impedance; Mathematical model; Pressure sensors; Robots; Compliance and impedance control; compliance and impedance control; hydraulic/ pneumatic actuators; hydraulic/pneumatic actuators; tendon/wire mechanism
Zeitschriftentitel:
Robotics and Automation Letters, IEEE
Jahr:
2016
Band / Volume:
1
Monat:
Jan
Heft / Issue:
1
Seitenangaben Beitrag:
161-168
Volltext / DOI:
doi:10.1109/LRA.2015.2511663
Print-ISSN:
2377-3766
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