- 期刊
- OpenAccess
Designing Synergistic Walking of a Humanoid Single Leg Driven by Pneumatic Artificial Muscles: An Empirical Study
並列摘要
Pneumatic artificial muscle (PAM) was adopted to drive a robotic leg for better understanding the humanlike walking mechanism which utilized compliant actuators. The associated walking model was established and tested. The designed biped robot with PAMs used linear spring to control the joints antagonistically. A closed-loop proportional-integral-derivative controller was developed for fitting each degrees of freedom of the robot to human gait parameters with a pulse width modulation algorithm. For optimization, an energy-efficient control to human-like walk and stand in a stable manner was proposed.
被引用紀錄
王至丞（2009）。連桿驅動式機械人手設計〔碩士論文，元智大學〕。華藝線上圖書館。https://doi.org/10.6838/YZU.2009.00266
Chou, Y. Y. (2009). 針對上肢治療與訓練型復健機器人之設計及其應用 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2009.00854
Tseng, C. W. (2016). 結合EPCglobal擴充與IEEE 1451標準之物聯網架構設計：辨識層編碼與擷取層中介系統的擴充設計 [doctoral dissertation, Feng Chia University]. Airiti Library. https://doi.org/10.6341/fcu.P9946287
Hung, K. S. (2006). 具週期移動邊界之容器內可壓縮流體之數值模擬方法及其熱流場之研究 [doctoral dissertation, Tatung University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0081-0607200917232214
鄭婕妤（2010）。基於RFM分析法之顧客適性化產品推薦機制〔碩士論文，朝陽科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0078-0601201112112856
延伸閱讀
- 王順正、吳顥照、林玉瓊、吳忠芳（2003）。A Study of Physiological Steady State by Critical Velocity of Walking。大專體育學刊，5(1)，259-267。https://doi.org/10.5297/ser.200306_5(1).0023
- Lee, I. F., Lin, C. I., Wu, H. C., Wu, L. C., Lin, P. C., Chiang, M. H., & Shih, W. P. (2015). Squat and Standing Motion of a Single Robotic Leg Using Pneumatic Artificial Muscles. 淡江理工學刊, 18(4), 363-370. https://doi.org/10.6180/jase.2015.18.4.07
- Wu, T. Y. (2009). Optimal Design and Iterative Learning of an Energy-Efficient Biped Walking in Semi-Active Manner [doctoral dissertation, National Tsing Hua University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0016-1111200916094655
- Wang, H. Y., & Li, Y. B. (2013). Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain. Journal of Control Science and Engineering, 2013(), 71-78. https://doi.org/10.1155/2013/429458
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