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Development of a hexahedron rubber actuator

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3 Author(s)
T. Shimizu ; Ritsumeikan Univ., Kyoto, Japan ; Y. Hayakawa ; S. Kawamura

A new type of pneumatic rubber actuators is proposed in this paper. The proposed actuator has a hexahedron structure which is suitable for making a rotational joint of a robot. We reveal the static characteristics of the actuator. It is experimentally demonstrated that a position feedback control law realize fast motions without oscillation. Moreover, we propose an adaptive gain method for the actuator to improve control performance. The effectiveness of the proposed method is confirmed through an experiment

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995