[1] VANDERBORGHT B,VERRELST B,HAM R V,et al. Controlling a bipedal walking robot actuated by pleated pneumatic artificial muscles[J]. Robotica,2006,24(24):401-410. [2] 韩亚丽,郝大彬,于建铭,等. 新型多模式弹性驱动器的弹跳性能研究[J]. 机械工程学报,2016,52(9):96-104. HAN Yali,HAO Dabin,YU Jianming,et al. Bounce performance study on novel multi-mode elastic actuator[J]. Journal of Mechanical Engineering,2016,52(9):96-104. [3] VANDERBORGHT B,HAM R V,VERRELST B,et al. Overview of the lucy project:Dynamic stabilization of a biped powered by pneumatic artificial muscles[J]. Advanced Robotics,2008,22(10):1027-1051. [4] 朱坚民,黄春燕,雷静桃,等. 气动肌腱驱动的拮抗式仿生关节位置/刚度控制[J]. 机械工程学报,2017,53(13):64-74. ZHU Jianmin,HUANG Chunyan,LEI Jingtao,et al. Position/stiffness control of antagonistic bionic joint driven by pneumatic muscles actuators[J]. Journal of Mechanical Engineering,2017,53(13):64-74. [5] LEI J,HUANGYING Y U,WANG T. Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot[J]. Chinese Journal of Mechanical Engineering,2016,29(1):11-20. [6] FAN J Z,ZHANG W,KONG P C,et al. Design and dynamic model of a frog-inspired swimming robot powered by pneumatic muscles[J]. Chinese Journal of Mechanical Engineering,2017,30(5):1-10. [7] YANG H,XIANG C,HAO L,et al. Research on PSA-MFAC for a novel bionic elbow joint system actuated by pneumatic artificial muscles[J]. Journal of Mechanical Science & Technology,2017,31(7):3519-3529. [8] DZAHIR M A M,NOR N S M,AZAMAN A,et al. Pneumatic muscles actuated lower-limb orthosis model verification with actual human muscle activation patterns[J]. EDP Sciences,2017,135:00061. [9] IKEMOTO S,NISHIGORI Y,HOSODA K. Direct teaching method for musculoskeletal robots driven by pneumatic artificial muscles[C]//Robotics and Automation (ICRA),May 14-18,2012,St.Paul,Minnesota,USA,2012 IEEE International Conference on. IEEE,2012:3185-3191. [10] KANEKO T,SEKIYA M,OGATA K,et al. Force control of a jumping musculoskeletal robot with pneumatic artificial muscles[C]//Intelligent Robots and Systems (IROS),October 9-14,2016,Daejeon,Korea,2016 IEEE/RSJ International Conference on. IEEE,2016:5813-5818. [11] TERAMAE T,NODA T,MORIMOTO J. Optimal control approach for pneumatic artificial muscle with using pressure-force conversion model[C]//Robotics and Automation (ICRA),May 31 to June 5,2014,Hong Kong,China,2014 2014 IEEE International Conference on. IEEE,2014:4792-4797. [12] TOMORI H,NAGAI S,MAJIMA T,et al. Variable impedance control with an artificial muscle manipulator using instantaneous force and MR brake[C]//Intelligent Robots and Systems (IROS),November 3-8,2013,Tokyo,Japan,2013 IEEE/RSJ International Conference on. IEEE,2013:5396-5403. [13] ANSARI Y,MANTI M,FALOTICO E,et al. Multi-objective optimization for stiffness and position control in a soft robot arm module[J]. IEEE Robotics & Automation Letters,2017,3(1):108-115. [14] PARK Y L,CHEN B R,PÉREZ-ARANCIBIA N O,et al. Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation[J]. Bioinspiration & Biomimetics,2014,9(1):016007. [15] DOUMIT M,MURILLO J,LAWRYNCZYK A,et al. Design and evaluation of pneumatic artificial muscle for powered transfemoral prostheses[J]. Journal of Medical & Biological Engineering,2014,34(5):439-447. [16] RAMOS J,LYNCH S,JONES D,et al. Hysteresis in muscle[J]. International Journal of Bifurcation & Chaos,2017,27(1):581-602. [17] CHOU C P,HANNAFORD B. Measurement and modeling of mcKibben pneumatic artificial muscles[J]. Robotics & Automation IEEE Transactions on,1996,12(1):90-102. [18] KLUTE G K,HANNAFORD B. Accounting for elastic energy storage in mcKibben artificial muscle actuators[J]. Journal of Dynamic Systems Measurement & Control,2000,122(2):386-388. [19] SUGIMOTO Y,NANIWA K,OSUKA K. Stability analysis of robot motions driven by mckibben pneumatic actuator[C]//Intelligent Robots and Systems (IROS),October 18-22,2010,Taipei,Taiwan,China,2010 IEEE/RSJ International Conference on. IEEE,2010:3049-3054. [20] DAVIS S,CALDWELL D G. Braid effects on contractile range and friction modeling in pneumatic muscle Actuators[M]. Sage Publications,Inc.,2006. [21] PIETRALA D. The characteristics of a pneumatic muscle[J]. EDP Sciences,2017,143:02093. [22] TAKOSOGLU J E,LASKI P A,BLASIAK S,et al. Determining the static characteristics of pneumatic Muscles[J]. Measurement and Control,2016,49(2):62-71. [23] WICKRAMATUNGE K C,LEEPHAKPREEDA T. Study on mechanical behaviors of pneumatic artificial muscle[J]. International Journal of Engineering Science,2010,48(2):188-198. [24] VO-MINH T,TJAHJOWIDODO T,RAMON H,et al. A new approach to modeling hysteresis in a pneumatic artificial muscle using the Maxwell-slip model[J]. IEEE/ASME Transactions on Mechatronics,2011,16(1):177-186. [25] ZANG X,LIU Y,HENG S,et al. Position control of a single pneumatic artificial muscle with hysteresis compensation based on modified Prandtl-Ishlinskii model[J]. Biomed Mater Eng.,2017,28(2):131-140. [26] IKHOUANE F,RODELLAR J. Systems with hysteresis:Analysis,identification and control using the Bouc-Wen model[M]. John Wiley & Sons,2007. [27] ASCHEMANN H,SCHINDELE D. Comparison of model-based approaches to the compensation of hysteresis in the force characteristic of pneumatic muscles[J]. IEEE Transactions on Industrial Electronics,2014,61(7):3620-3629. [28] TONDU B,LOPEZ P. Modeling and control of mckibben artificial muscle robot actuators[J]. Control Systems IEEE,2000,20(2):15-38. [29] ISMAIL M,IKHOUANE F,RODELLAR J. The hysteresis Bouc-Wen model,a survey[J]. Archives of Computational Methods in Engineering,2009,16(2):161-188. |