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RISTheoretical Dynamic Modeling and Validation of Braided Pneumatic Artificial Muscles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The high force-to-weight ratios of braided fluidic artificial muscles (AMs) are ideal for human scale and mobile robot applications. Prior modeling efforts focus on the theoretical static characteristics or empirical dynamic ...
Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Artificial muscles (AMs) traditionally rely on pneumatic sources of fluid power. The use of hydraulics can increase the power and force to weight and volume ratios of AM actuators. This paper develops a control-centric ...