proxy-based sliding mode control of a manipulator actuated by pleated pneumatic artificial muscles

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Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles • Lightweight manipulator actuated by Pleated Pneumatic Artificial Muscles • Adaptable compliance and high power to weight ratio • Safety is of primary importance • Proxy-Based Sliding mode control: improved performance and safety M. Van Damme, B. Vanderborght, R. Van Ham, B. Verrelst, F. Daerden, D. Lefeber Vrije Universiteit Brussel, Department of Mechanical Engineering Multibody Mechanics Research Group [email protected]

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Page 1: Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles

Proxy-Based Sliding Mode Control of a Manipulator Actuated by Pleated Pneumatic Artificial Muscles

• Lightweight manipulator actuated by Pleated Pneumatic Artificial Muscles

• Adaptable compliance and high power to weight ratio

• Safety is of primary importance• Proxy-Based Sliding mode control: improved

performance and safety

M. Van Damme, B. Vanderborght, R. Van Ham, B. Verrelst,F. Daerden, D. Lefeber

Vrije Universiteit Brussel, Department of Mechanical EngineeringMultibody Mechanics Research Group

[email protected]

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