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Research on the intelligent control algorithm for a robot joint actuated by McKibben muscles

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Abstract

A compound control algorithm is supposed to a robot joint actuated by McKibben muscles, which combines both CMAC control and PID control. The CMAC feedforward compensator realizes the joint system’s dynamic model. The PID controller realizes the feedback control in order to guarantee the system’s stability. The compound controller’s output takes control of the system’s actions. By the CMAC learning process, the PID output tends to zero, and the final controlled action is directed by the CMAC controller. Digital simulation results prove that this compound control algorithm has the very high tracking capacity, interference immunity, and quick system response.

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References

  1. Chou CP (1996) Study of human motion control with a physiology-based robotic arm and spinal-level neural controller. Doctoral dissertation, Washington University

  2. Zhao H, Sugisaka M (2008) A model of the McKibben muscle actuator based on experiments. Syst Sci 34(2):83–88

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Author information

Authors and Affiliations

  1. School of Mechanical and Automation Engineering, Shanghai Institute of Technology, No.120, Caobao Road, Shanghai, 200235, China

    Huailin Zhao

  2. Department of Mechnical and Electrical Engineering, Nippon Bunri University, 1727 Oaza Itiki, Oita, 870-0397, Japan

    Masanori Sugisaka

  3. School of Mechanical and Automation Engineering, Shanghai Institute of Technology, Shanghai, China

    Leilei Cui

  4. School of Mechanical Engineering, Shanghai Jaio Tong University, Shanghai, China

    Guanglin Shi

Authors
  1. Huailin Zhao
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  2. Masanori Sugisaka
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  3. Leilei Cui
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  4. Guanglin Shi
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Corresponding author

Correspondence to Huailin Zhao.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

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Zhao, H., Sugisaka, M., Cui, L. et al. Research on the intelligent control algorithm for a robot joint actuated by McKibben muscles. Artif Life Robotics 14, 85–88 (2009). https://doi.org/10.1007/s10015-009-0634-9

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  • DOI: https://doi.org/10.1007/s10015-009-0634-9

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