A Seven-degrees-of-freedom Robot-arm Driven by Pneumatic Artificial Muscles for Humanoid Robots

Abstract : Braided pneumatic artificial muscles, and in particular the better known type with a double helical braid usually called the McKibben muscle, seem to be at present the best means for motorizing robot-arms with artificial muscles. Their ability to develop high maximum force associated with lightness and a compact cylindrical shape, as well as their analogical behavior with natural skeletal muscle were very well emphasized in the 1980s by the development of the Bridge-stone " soft robot " actuated by " rubbertuators ". Recent publications have presented ways for modeling McKibben artificial muscle as well as controlling its highly non-linear dynamic behavior. However , fewer studies have concentrated on analyzing the integration of artificial muscles with robot-arm architectures since the first Bridge-stone prototypes were designed. In this paper we present the design of a 7R anthropomorphic robot-arm entirely actuated by antagonistic McKibben artificial muscle pairs. The validation of the robot-arm architecture was performed in a teleoperation mode.
Document type :
Journal articles
Complete list of metadatas

Cited literature [38 references]  Display  Hide  Download

Contributor : Jérémie Guiochet <>
Submitted on : Thursday, March 24, 2016 - 9:21:09 AM
Last modification on : Monday, September 2, 2019 - 1:42:03 PM
Long-term archiving on : Monday, November 14, 2016 - 3:52:07 AM


Files produced by the author(s)



Bertrand Tondu, Serge Ippolito, Jérémie Guiochet, Alain Daidié. A Seven-degrees-of-freedom Robot-arm Driven by Pneumatic Artificial Muscles for Humanoid Robots. The International Journal of Robotics Research, SAGE Publications, 2005, 24 (4), p.257-274. ⟨10.1177/0278364905052437⟩. ⟨hal-01292939⟩



Record views


Files downloads