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• W3084683003 abstract "Robots for human are required to have safety while working with them. Therefore, we focused to a pneumatic artificial muscle which has intrinsic flexibility. In this paper, we developed a bending-type pneumatic rubber artificial muscle (BPAM) and a unit driven by 3 BPAMs. We are aiming to develop redundant degree of freedom manipulator by connecting a number of units. We also conducted load characteristic experiment of the unit. Experimental result showed that the unit can drive omnidirectionally as we proposed. However, the unit has uneven output characteristics because these BPAMs were made by hand, individual differences in characteristics of BPAMs were occurred for example thickness of rubber tube and a little misregistration of aramid fiber in axial length. Then, the unit was controlled by neural network learning. Trajectory tracking experiment result showed that actual trajectory was off-center from desired trajectory. Nonetheless, the unit reproduced tendency of trajectory, and we consider that the trajectory control can be improved by adding attitude feedback control." @default.
• W3084683003 created "2020-09-21" @default.
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• W3084683003 date "2020-09-15" @default.
• W3084683003 modified "2023-09-26" @default.
• W3084683003 title "Developing a Flexible Segment Unit for Redundant-DOF Manipulator Using Bending Type Pneumatic Artificial Muscle" @default.
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• W3084683003 doi "https://doi.org/10.1007/978-3-030-58380-4_33" @default.
• W3084683003 hasPublicationYear "2020" @default.
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