Pneumatic muscle actuator technology: a light weight power system for a humanoid robot

Abstract

This work reports on the construction of components for a humanoid robot powered by a new low mass, high power weight and volume actuation system, called the pneumatic muscle actuator (PMA). In addition to their power and force capabilities the PMA, being pneumatic, produces a more natural human muscle like contact and as such can be considered a soft actuation system with the inherent safety implication when working in close proximity to humans. The integration and testing of the performance of the component sections is also considered to show how these structures and actuators can be combined to produce the various systems needed for a low mass humanoid and the potential for future application in humanoid and other robotic fields.