Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

Sliding Mode Control of an MRI-Compatible Pneumatically Actuated Robot

Magnetically sensitive environments such as MRI scanners preclude the use of traditional electromagnetic actuators. Pneumatic piston-cylinders are well-suited actuators for MRIguided robots, but the nonlinear dynamics of the working fluid creates a challenging controls problem. Precision control of the actuators is needed for the robot to achieve high targeting accuracy. This paper reports a fi...

Gait Training using Pneumatically Actuated Robot System

Model Predictive Control for Pneumatically Actuated Soft Robots

Traditional rigid robots, like those used in manufacturing, have been effective at precise, accurate, rapid motions in well structured environments for many decades now. However, they operate largely behind cages due to the danger of injury when moving in close proximity to people. A significant and recent shift in robotics involves trading rigid links and rigid actuators for soft, deformable l...

Modeling and Simulation of a Pneumatically-Actuated Rescue Robot

A four-legged pneumatically actuated search and rescue robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation of the robot via an operator workstation, enables the twelve degree of freedom robot to better manipulate large objects. A simulation is developed to enable ease of desig...

Modeling, identification, and control of a pneumatically actuated, force controllable robot

This research focuses on modeling and control of a light-weight and inexpensive pneumatic robot that can be used for position tracking and for end-effector force control. Unlike many previous controllers, our approach more fully accounts for the nonlinear dynamic properties of pneumatic systems such as servovalve flow characteristics and the thermodynamic properties of air compressed in a cylin...