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 ...

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 ...

Abstract: Autonomous manipulation is a challenging problem in field robotics due to uncertainty in object properties, constraints, and coupling phenomenon with robot control systems. Humans learn motion primitives over time to ...