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dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorForni, P.
dc.contributor.authorDoppmann, C.
dc.contributor.authorSarıyıldız, E.
dc.contributor.authorMorimoto, J.
dc.date.accessioned2020-06-17T13:29:38Z
dc.date.available2020-06-17T13:29:38Z
dc.date.issued2019-12
dc.identifier.issn1551-3203en_US
dc.identifier.urihttp://hdl.handle.net/10679/6623
dc.identifier.urihttps://ieeexplore.ieee.org/document/8712446
dc.description.abstractThis paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness control modes. Three contributions are sequentially presented in constructing the framework: 1) A PAM force feedback controller with guaranteed stability is synthesized in a way so as to contend with nonlinear PAM characteristics; 2) a mathematical tool is developed to compute reference PAM forces, for a given set of desired joint torque and joint stiffness inputs; and 3) on top of the torque controller, a position control scheme is implemented and its stability analysis is given in the sense of Lyapunov. In order to test the controller framework, an extensive set of experiments are conducted using an actuator that is constructed using two antagonistically coupled PAMs. As a result, the actuator exhibits satisfactory tracking performances concerning both torque-stiffness control and position-stiffness control modes.en_US
dc.description.sponsorshipCommissioned Research of NICT ; ImPACT of CSTI ; New Energy and Industrial Technology Development Organization (NEDO) ; Ministry of Education, Culture, Sports, Science and Technology, Japan (MEXT) Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research (KAKENHI) ; JST-Mirai Program Japan
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE Transactions on Industrial Informatics
dc.rightsopenAccess
dc.titleStable control of force, position, and stiffness for robot joints powered via pneumatic musclesen_US
dc.typeArticleen_US
dc.description.versionPost print
dc.peerreviewedyesen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.volume15en_US
dc.identifier.issue12en_US
dc.identifier.startpage6270en_US
dc.identifier.endpage6279en_US
dc.identifier.wosWOS:000502295800008
dc.identifier.doi10.1109/TII.2019.2916228en_US
dc.subject.keywordsCompliant actuatoren_US
dc.subject.keywordsForce and position controlen_US
dc.subject.keywordsPneumatic artificial muscleen_US
dc.subject.keywordsVariable stiffnessen_US
dc.identifier.scopusSCOPUS:2-s2.0-85077500281
dc.contributor.authorMale1
dc.relation.publicationcategoryArticle - International Refereed Journal - Institutional Academic Staff


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