Force and position control using pneumatic cylinders

摘要

[Abstract]: The supporting legs of legged robots form part of\nmultiple closed kinematic chains in which antagonistic forces can\npose a problem. In this paper, methods of compliance and force\ncontrol are explored to resolve this. A ‘nested loop’ topology of\nnon-linear control for pneumatic cylinders is outlined and its\nperformance in actual implementation is reported.