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

  • T. Kerscher
  • J. M. Zoellner
  • R. Dillmann
  • A. Stella
  • G. Caporaletti
Conference paper

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

Keywords

Versus Versus Versus Pulse Width Modulation Quadruped Robot Passive Compliance Muscle Pressure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • T. Kerscher
    • 1
  • J. M. Zoellner
    • 1
  • R. Dillmann
    • 1
  • A. Stella
    • 2
  • G. Caporaletti
    • 2
  1. 1.Forschungszentrum InformatikKarlsruheGermany
  2. 2.EICAS Automazione S.p.A.TorinoItaly

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