| This thesis discusses the application of using pneumatic force actuators at the hips of a five link robotic system to provide a controllable input torque. The goal of this research is to provide a base to build upon to eventually produce a "active" biped walking robot that utilizes the benefits of the passive walking cycle.; A reduced order mathematical model of the system consisting of the pneumatic proportional valve and actuators is utilized in designing the force controller. The model takes into account tube links, valve friction, piston friction, and valve mechanics. The five link robot is also modeled including moments of inertia, masses, and centers of mass in order to design the trajectory controller. The mathematical models provide the equations necessary to develop the nonlinear control laws based on Sliding Mode Control Theory for both the force and trajectory controller. (Abstract shortened by UMI.)... |
