Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.
Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.
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串联气动人造肌肉（垃圾邮件）和适用于软连续机器人。
DOI：
10.1109/icra.2017.7989648
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发表时间：
2017-05
期刊：
影响因子：
--
通讯作者：
Hawkes EW
中科院分区：
文献类型：
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作者：
Greer JD;Morimoto TK;Okamura AM;Hawkes EW
我们描述了一种新型系列气动人工肌肉（sPAM）及其作为软体连续体机器人执行器的应用。该机器人由三个sPAM组成，它们沿径向围绕一个管状气动主干排列。类似于肌腱，sPAM对机器人的气动主干施加拉力，导致近似恒定曲率的弯曲。与传统的肌腱驱动连续体机器人不同，该机器人完全是软体的，不包含硬质部件，使其在与人交互时更安全。给出了sPAM和软体连续体机器人运动学模型，并进行了实验验证。我们发现，利用运动学模型预测一个42厘米长的机器人的末端执行器位置时，平均位置精度为5.5厘米。最后，利用手眼视觉伺服控制律演示了闭环控制，该控制律为人工操作提供了一个简单的接口。发现具有闭环控制的软体连续体机器人的阶跃响应上升时间和稳定时间均小于2秒。
We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot’s pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds.