Design and control of chemomuscle / Xiangrong, Shen in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 2 (Mars 2011)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 08 p. Titre : Design and control of chemomuscle : a liquid-propellant-powered muscle actuation system Type de document : texte imprimé Auteurs : Xiangrong, Shen, Auteur ; Christ, Daniel, Auteur Année de publication : 2011 Article en page(s) : 08 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Biomechanics Mobile robots Muscle Pneumatic actuators Propellants Index. décimale : 629.8 Résumé : This paper describes the design and control of a new chemomuscle actuation system for robotic systems, especially the mobile systems inspired by biological principles. Developed based on the pneumatic artificial muscle, a chemomuscle actuation system features a high power density, as well as similar characteristics to the biological muscles. Furthermore, by introducing monopropellant (a special type of liquid fuel) as the energy storage media, the chemomuscle system leverages the high energy density of liquid fuel and provides a compact form of high-pressure gas supply with a simple structure. The introduction of monopropellant addresses the limitation of pneumatic supply on mobile devices and thus is expected to facilitate the future application of artificial muscle on biorobotic systems. In this paper, the design of a chemomuscle actuation system is presented, as well as a robust controller design that provides effective control for this highly nonlinear system. To demonstrate the proposed chemomuscle actuation system, an experimental prototype is constructed, on which the proposed control algorithm provides good tracking performance. DEWEY : 629.8 ISSN : 0022-.434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...] [article] Design and control of chemomuscle : a liquid-propellant-powered muscle actuation system [texte imprimé] / Xiangrong, Shen, Auteur ; Christ, Daniel, Auteur . - 2011 . - 08 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 08 p. Mots-clés : Biomechanics Mobile robots Muscle Pneumatic actuators Propellants Index. décimale : 629.8 Résumé : This paper describes the design and control of a new chemomuscle actuation system for robotic systems, especially the mobile systems inspired by biological principles. Developed based on the pneumatic artificial muscle, a chemomuscle actuation system features a high power density, as well as similar characteristics to the biological muscles. Furthermore, by introducing monopropellant (a special type of liquid fuel) as the energy storage media, the chemomuscle system leverages the high energy density of liquid fuel and provides a compact form of high-pressure gas supply with a simple structure. The introduction of monopropellant addresses the limitation of pneumatic supply on mobile devices and thus is expected to facilitate the future application of artificial muscle on biorobotic systems. In this paper, the design of a chemomuscle actuation system is presented, as well as a robust controller design that provides effective control for this highly nonlinear system. To demonstrate the proposed chemomuscle actuation system, an experimental prototype is constructed, on which the proposed control algorithm provides good tracking performance. DEWEY : 629.8 ISSN : 0022-.434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013300 [...]

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