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Browse Conference Publications > Robot Motion and Control, 200 ... Help

Joint control of the six-legged robot AirBug driven by fluidic muscles

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3 Author(s)
Kerscher, T. ; Forschungszentrum Informatik, Karlsruhe Univ., Germany ; Albiez, J. ; Berns, K.

Pneumatic muscles as actuators offer several advantages due to their performance weight relation or to the passive compliance of this type of actuators. Passive compliance is an important component for the control of locomotion in rough terrain to absorb the power stroke energy. This paper presents the mechatronics of a six-legged insect-like robot AirBug with pneumatic muscles as actuators. The main focus lies on the control concept of the antagonistic actuators.

Published in:
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

Date of Conference: 9-11 Nov. 2002

Page(s):
27 - 32
Print ISBN:
83-7143-429-4
INSPEC Accession Number:
7664859
Digital Object Identifier :
10.1109/ROMOCO.2002.1177079
Product Type:
Conference Publications

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