TY - GEN
T1 - Adjustment of pressure in antagonistic joints with pneumatic artificial muscles for rapid reacting motions
AU - Tanaka, Kazutoshi
AU - Nishikawa, Satoshi
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2014 by World Scientific Publishing Co. Pte. Ltd.
PY - 2014
Y1 - 2014
N2 - Rapid reacting motions are important for robots to adjust to changes in the real world, which is constantly changing drastically. Pneumatic artificial muscles (PAMs) have been used as actuators of fast-moving robots. Robots equipped with PAMs can move adaptively and dynamically using passive properties of PAMs. In this study, we considered preparation for fast reacting motions by robots equipped with joints driven by competing PAMs (antagonistic PAMdriven joints) as using active properties of PAMs. Specifically, we investigated a method of adjusting initial pressures in PAM-driven joints increasing the maximum joint velocity generated in a short time. We found the optimal initial pressure in PAM-driven joints considering a mechanical delay of PAMs in simulations. Additionally, we verified the validity of results in the simulations using an actual robotic arm.
AB - Rapid reacting motions are important for robots to adjust to changes in the real world, which is constantly changing drastically. Pneumatic artificial muscles (PAMs) have been used as actuators of fast-moving robots. Robots equipped with PAMs can move adaptively and dynamically using passive properties of PAMs. In this study, we considered preparation for fast reacting motions by robots equipped with joints driven by competing PAMs (antagonistic PAMdriven joints) as using active properties of PAMs. Specifically, we investigated a method of adjusting initial pressures in PAM-driven joints increasing the maximum joint velocity generated in a short time. We found the optimal initial pressure in PAM-driven joints considering a mechanical delay of PAMs in simulations. Additionally, we verified the validity of results in the simulations using an actual robotic arm.
UR - http://www.scopus.com/inward/record.url?scp=85007326021&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85007326021&partnerID=8YFLogxK
U2 - 10.1142/9789814623353_0022
DO - 10.1142/9789814623353_0022
M3 - Conference contribution
AN - SCOPUS:85007326021
SN - 9789814623346
T3 - Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
SP - 183
EP - 190
BT - Mobile Service Robotics
A2 - Kozlowski, Krzysztof
A2 - Tokhi, Mohammad O
A2 - Virk, Gurvinder S
A2 - Virk, Gurvinder S
A2 - Virk, Gurvinder S
PB - World Scientific Publishing Co. Pte Ltd
T2 - 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014
Y2 - 21 July 2014 through 23 July 2014
ER -