Mathematical Model of McKibben Pneumatic Artificial Muscle Systems Involving Load-Dependent Parameters
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- Kogiso Kiminao
- Nara Institute of Science and Technology
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- Naito Ryo
- Nara Institute of Science and Technology
Bibliographic Information
- Other Title
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- 負荷に依存するパラメータを用いたMcKibben型空気圧ゴム人工筋の数理モデル
- フカ ニ イソン スル パラメータ オ モチイタ McKibbenガタ クウキアツ ゴム ジンコウキン ノ スウリ モデル
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Abstract
This paper presents a nonlinear model, involving load-dependent parameters, of a McKibben pneumatic artificial muscle system that includes a proportional directional control valve, and also proposes a partially heuristic but reasonable procedure for identifying nine key parameters characterizing transient and steady state behaviors of the system. And then, this paper validates the obtained model and illustrates how it can simulate the real under several loads, comparing with experimental data. <br>
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 26 (7), 269-276, 2013
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390001205166142976
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- NII Article ID
- 130003388020
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 024672497
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed
