Yohei Ariga, Daisuke Maeda, Hang T. T. Pham, M. Uemura, Hiroaki Hirai, F. Miyazaki
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Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles
This paper presents a novel method for controlling a single-joint robot arm driven by two pneumatic artificial muscles (PAMs). We introduce the concepts of the agonist-antagonist muscle-pairs ratio (A-A ratio) and the agonist-antagonist muscle-pairs activity (A-A activity), and demonstrate that our concepts enable separate linear control of the equilibrium joint angle and joint stiffness. We also discuss our approach in comparison with the equilibrium-point (EP) hypothesis.
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