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dc.contributor.author
Majoe, Dennis
dc.contributor.author
Widmer, Lars
dc.contributor.author
Gutknecht, Jürg
dc.date.accessioned
2024-02-07T08:28:30Z
dc.date.available
2017-06-09T18:45:18Z
dc.date.available
2024-02-07T08:28:30Z
dc.date.issued
2011
dc.identifier.isbn
978-1-61284-386-5
en_US
dc.identifier.other
10.1109/ICRA.2011.5979796
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/45138
dc.description.abstract
Faced with the challenge of making running speed robots, improved light weight actuation is a primary concern. Pneumatic Air Muscle (PAM) has not been advanced significantly since their conception and some new features are needed to meet compact bi-pedal robots. Driven by air pressure, all PAMs require air control valves that ideally are light weight, low power and provide high flow rates for rapid contract-relax cycling. PAMs require air compressors and air reservoirs. These are normally very heavy and very bulky. A new approach to both the PAM and air valves is presented in this paper with a view to enabling the design of compact, lightweight and dynamic robots. Similarly a totally new way of generating pneumatic pressure is presented based on heat engine methods. The improvements are described and the advantages, method of operation and method of implementation in a bi-pedal robot are discussed. Initial analysis is presented for the actuation force characteristic, isometric and isotonic behaviors of the muscles and flow rate for the valves. The heat engine based actuator is explained covering the design choices and the early results of a working prototype is described. The heat engine work capacity and efficiency is contrasted to that of standard air compression.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Pneumatic Air Muscle and Pneumatic Sources for Light Weight Autonomous Robots
en_US
dc.type
Conference Paper
ethz.book.title
2011 IEEE International Conference on Robotics and Automation
en_US
ethz.pages.start
3243
en_US
ethz.pages.end
3250
en_US
ethz.event
IEEE International Conference on Robotics and Automation (ICRA 2011)
en_US
ethz.event.location
Shanghai, China
en_US
ethz.event.date
May 9-13, 2011
en_US
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
03232 - Gutknecht, Jürg
en_US
ethz.leitzahl.certified
03232 - Gutknecht, Jürg
ethz.relation.isCitedBy
10.3929/ethz-b-000300748
ethz.date.deposited
2017-06-09T18:45:44Z
ethz.source
ECIT
ethz.identifier.importid
imp59364ee5d8b0334970
ethz.ecitpid
pub:74202
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-26T05:24:17Z
ethz.rosetta.lastUpdated
2020-02-14T09:26:53Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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