Tension Control of a McKibben Pneumatic Actuator Using a Dynamic Quantizer

A McKibben-type pneumatic actuator (MPA) is a soft actuator that generates tension by inflating a rubber tube with compressed air. Electropneumatic regulators are typically employed to regulate air pressure in MPAs. However, they are normally large in size and expensive, which are significant obstac...

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Veröffentlicht in:	Journal of robotics and mechatronics 2023-08, Vol.35 (4), p.1038-1046
Hauptverfasser:	Sugimoto, Yasuhiro, Naniwa, Keisuke, Nakanishi, Daisuke, Osuka, Koichi
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Compressed air Decentralized control Feedback control Feedforward control Pneumatics Solenoid valves
Online-Zugang:	Volltext
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