This paper presents a control methodology that enables nonlinear model based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the equivalent continuous-time dynamics of a PWM controlled nonlinear system, which renders the system, originally discontinuous and possibly non-affine in the input, into an equivalent system that is both c...

This paper presents a method of modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from cells, each containing six piezoelectric actuators and an amplification structure; however the results can be generalized to actuator arrays using solenoids, pneumatic cylinders, or any other fast acting linear actuators. The cells are controlled...

In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously tendon-driven system. performs pumping actuating supply air hindlegs, passively actuated from forelegs. We conducted series of experiments...

Recent advancements in soft pneumatic robot research have demonstrated these robots’ capability to interact with the environment and humans various ways. Their ability move over rough terrain grasp objects of irregular shape, regardless position, has garnered significant interest developing new robots. Integrating industrial design related technologies holds great promise for future, potentiall...

Hard-bodied robots’ operations always are limited because of their rigid structures. Recently, researchers has been inspired by some animals because they can exhibit complex movement with soft structure. Conventional manipulators operate difficultly because of their rigid links in some highly congested environments. They design soft robots, to replace traditional robots with rigid links. With a...

Pressure control of a pneumatic actuator using fast switching On/Off valves continues to remain a major challenge for researchers. This article proposes a novel pulse width modulation–sliding mode controller that improves pressure tracking of pneumatic actuators. First, a comprehensive mathematical model of the pneumatic system was developed that consists of several submodels. The model compris...