SAC(Simple Adaptive Control) with PID and Adaptive Disturbance Compensation for Actuator Composed of Artificial Rubber Muscles.

摘要

Robot for use in welfare or agriculture should be light in weight and have redundancy of freedoms. A rubber artificial muscle (Rubbertuator) is an actuator with the above properties. We propose a two-degree-of-freedom artificial rubber actuator. The proposed actuator is composed of two types of actuator: two Rubbertuators (R-R type) which move a joint antagonistically, and a combination of a Rubbertuator and a spring (R-S type) which also moves antagonistically. The effectiveness of the control algorithm is examined using on R-R type or R-S type actuator. To determine the basic characteristics of the above state actuators, experiments were executed (for R-R type and R-S type). SAC with a PID compensated algorithm and that with an adaptive disturbance compensated algorithm were applied to the state actuators and several evaluations were made based on the experiment results.