Modeling and control of a novel robotic actuator

Abstract

With the increased use of robots in industry and the military, new robot-specific actuators will be developed to better meet functional requirements. One concept to be considered is a stiff pneumatic-hydraulic actuator for mobile anthropomorphic robot application. This thesis documents analysis of the feasibility of such an actuator. Computer modeling and simulation are accomplished. A hardware test bed with microcomputer control and parameter sensing interface is designed and constructed for the purpose of model validation and demonstrations. Automatic control software is designed and implemented on the test bed, and performance evaluations are made. From the observations made during the analysis process, design recommendations are formulated and proposed.