Abstract
The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.
| Original language | English |
|---|---|
| Title of host publication | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 2271-2276 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2005 |
| Event | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: Aug 2 2005 → Aug 6 2005 |
Other
| Other | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 |
|---|---|
| Country | Canada |
| City | Edmonton, AB |
| Period | 8/2/05 → 8/6/05 |
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Keywords
- Intelligent actuator
- McKibben actuator
- Soft mechanism
- Soft sensor
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Control and Systems Engineering
Cite this
Development of intelligent McKibben actuator. / Wakimoto, Shuichi; Suzumori, Koichi; Kanda, Takefumi.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 2271-2276 1545315.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of intelligent McKibben actuator
AU - Wakimoto, Shuichi
AU - Suzumori, Koichi
AU - Kanda, Takefumi
PY - 2005
Y1 - 2005
N2 - The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.
AB - The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.
KW - Intelligent actuator
KW - McKibben actuator
KW - Soft mechanism
KW - Soft sensor
UR - http://www.scopus.com/inward/record.url?scp=48649091656&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48649091656&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545315
DO - 10.1109/IROS.2005.1545315
M3 - Conference contribution
SN - 0780389123
SN - 9780780389120
SP - 2271
EP - 2276
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -