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TECHNICAL BRIEFS

Tracking of High Acceleration Movements With a Pneumatic Impedance Controller

[+] Author and Article Information
M. Guihard, P. Gorce

INSERM U483, 9 Avenue de la Division Leclerc, 94234 Cachan, Cedex France

J. Dyn. Sys., Meas., Control 123(3), 549-551 (Mar 06, 2000) (3 pages) doi:10.1115/1.1371773 History: Received March 06, 2000
Copyright © 2001 by ASME
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References

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Gorce,  P., and Guihard,  M., 1998, “On Pneumatic Control of Pneumatic Bipeds,” J. Rob. Syst., 15, No. 7, pp. 421–433.
Gorce,  P., and Guihard,  M., 1999, “Joint impedance pneumatic control for multilink systems,” ASME J. Dyn. Syst., Meas., Control, 121, pp. 293–297.
Guihard, M., 1994, “Comparative Study of Adaptive Controllers for a Pneumatic Driven Leg,” Intelligent Robots and Systems, Elsevier Science, pp. 513–532.
Landau,  I. D., and Horowitz,  R., 1989, “Applications of the Passive Systems Approach to the Stability Analysis of Adaptive Controllers for Robot Manipulators,” Int. J. of Adaptive Control and Signal Processing, 3, pp. 23–38.
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Figures

Grahic Jump Location
Block diagram of the leg
Grahic Jump Location
Closed-loop control scheme
Grahic Jump Location
Joint position tracking

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