Paper Info
Title
Stability and joint stiffness analysis of legged robot's periodic motion driven by McKibben pneumatic actuator.
Abstract
A McKibben-type pneumatic actuator is widely used as a convenient actuator for a robot with a simple actuator model and a simple control method. However, the effect of its characteristics on the stability of robot motion has not been sufficiently discussed. The purpose of our research is to analyze the influence that the various characteristics of a McKibben pneumatic actuator has on the stability of movements generated by the actuator. In this study, we focus on a periodic motion, which is one of the common movements of robots. We introduce a stability criterion for periodic motion similar to our previous work, in which stability of musculo-skeletal system was discussed, and show that the criterion is always satisfied. Next, we focus on a redundancy of air pressure inputs. As one of application of the redundancy, we investigate the joint stiffness of a robot and propose a design procedure of inputs based on a reference period trajectory and the desired joint stiffness. The stability analysis and design of joint stiffness are verified not only through numerical simulations but also through experiments with a developed 1-DOF legged robot.
Year
DOI
Venue
2017
10.1080/01691864.2016.1273135
ADVANCED ROBOTICS
Keywords
Field
DocType
McKibben-type pneumatic actuator,stability analysis,periodic motion,joint stiffness analysis
Joint stiffness,Periodic function,Pneumatic actuator,Control theory,Legged robot,Control engineering,Engineering
Journal
Volume
Issue
ISSN
31.0
8
0169-1864
Citations 
PageRank 
References 
0
0.34
13
Authors
4
Name
Order
Citations
PageRank
Yasuhiro Sugimoto1328.01
Daisuke Nakanishi200.34
Motoki Nakanishi300.34
Koichi Osuka413242.74