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Alternative TitleOverview of control methods for pneumatic artificial muscle-actuated robots
梁定坤1,2,3; 陈轶珩1,3; 孙宁1,3; 吴易鸣1,3; 刘连庆2; 方勇纯1,3
Source Publication控制与决策
Indexed ByEI
EI Accession number20210609884092
Contribution Rank2
Funding Organization辽宁省教育厅新型智库项目“基于政府视角下的军民融合技术合作激励机制演化博弈分析”(YJT19015) ; 国家自然科学基金(面上项目)“面向柔性化生产的自调整工业网络关键技术研究”(62972389) ; 辽宁省社科联经济社会发展研究课题“基于政府视角下的军民融合技术创新激励机制演化博弈分析研究”(2020lslktqn-055)
Keyword柔性机器人 气动人工肌肉 气动执行器 仿生关节 气动自动控制 迟滞补偿


Other Abstract

With the rapid development of robotics, it is more and more difficult for traditional actuators with redundant structures and large sizes (e.g., motors, hydraulic actuators, etc.) to meet the needs of lightweight and flexibility for the new generation of intelligent robots. Hence, pneumatic artificial muscle (PAM) actuators with higher flexibility and safety have been attracting more and more attention in recent years. The PAM is simple in structure, light in material, and good in biological adaptability. It has good adaptability in medical rehabilitation, aerospace, underwater operations, emergency relief and other fields, which can be easily used to actuate robots to complete a number of complex tasks. However, PAMs have inherent hysteresis, high nonlinearities, and creep characteristics, which bring challenges for accurate dynamic modeling and controller design for flexible robots actuated by PAMs. In this paper, first, we briefly introduce the PAM’s working principle, advantages and disadvantages, modeling methods, and related applications. Then, based on the mainstream model of PAMs, the research status and latest progress of motion control methods for single and multi-PAM-driven robot in recent years are emphatically described. Finally, according to the current research progress and unsolved issues, future development trends of flexible robots driven by PAMs are summarized.

Document Type期刊论文
Corresponding Author孙宁
Recommended Citation
GB/T 7714
梁定坤,陈轶珩,孙宁,等. 气动人工肌肉驱动的机器人控制方法研究现状概述[J]. 控制与决策,2021,36(1):27-41.
APA 梁定坤,陈轶珩,孙宁,吴易鸣,刘连庆,&方勇纯.(2021).气动人工肌肉驱动的机器人控制方法研究现状概述.控制与决策,36(1),27-41.
MLA 梁定坤,et al."气动人工肌肉驱动的机器人控制方法研究现状概述".控制与决策 36.1(2021):27-41.
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