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Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software

  • Conference paper
Climbing and Walking Robots

Abstract

The content of this paper describes the model and control of a elastic joint driven by fluidic muscles including the nonlinear behavior of the fluidic muscle, the valves and the joint dynamics. Such elastic joints have a lot advantages like passive compliance, low power to weight relation. The control of the joint is developed with the help of a professional software tool named EICASLAB which has been realized within the ACODUASIS Project founded by the European Commission in the frame of the Innovation Program aiming at transferring to the robotics sector the EICAS methodology

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References

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Author information

Authors and Affiliations

  1. Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137, Karlsruhe, Germany

    T. Kerscher, J. M. Zoellner & R. Dillmann

  2. EICAS Automazione S.p.A., Via Vincenzo Vela, 27, 10128, Torino, Italy

    A. Stella & G. Caporaletti

Authors
  1. T. Kerscher
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  2. J. M. Zoellner
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  3. R. Dillmann
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  4. A. Stella
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  5. G. Caporaletti
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Editor information

Editors and Affiliations

  1. Department of Automatic Control and, System Engineering, University Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    M. O. Tokhi

  2. Department of Mechanical Engineering, University Leeds, LS2 9JT, Leeds, UK

    G. S. Virk

  3. Department of Computing, University of Bradford, Richmond Road, BD7 1DP, Bradford, UK

    M. A. Hossain

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© 2006 Springer-Verlag Berlin Heidelberg

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Kerscher, T., Zoellner, J.M., Dillmann, R., Stella, A., Caporaletti, G. (2006). Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_29

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  • DOI: https://doi.org/10.1007/3-540-26415-9_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26413-2

  • Online ISBN: 978-3-540-26415-6

  • eBook Packages: EngineeringEngineering (R0)

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