【摘 要】
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The bionic legs are generally driven by motors which have the disadvantages of large size and heavy weight.In contrast,the bionic legs driven by pneumatic artif
【机 构】
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School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,P.R.China
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The bionic legs are generally driven by motors which have the disadvantages of large size and heavy weight.In contrast,the bionic legs driven by pneumatic artificial muscles(PAMs)have the advantages of light weight,good bionics and flexibility.A kind of bionic leg driven by PAMs is de-signed.The proportional-integral-derivative(PID)algorithm and radial basis function neural net-work(RBFNN)algorithm are combined to design RBFNN-PID controller,and a low-pass filter is added to the control system,which can effectively improve the jitter phenomenon of the joint during the experiment.It is verified by simulation that the RBFNN-PID algorithm is better than traditional PID algorithm,the response time of joint is improved from 0.15 s to 0.07 s,and the precision of joint position control is improved from 0.75 ° to 0.001 °.The experimental results show that the am-plitude of the change in error is reduced from 0.5 ° to 0.2 °.It is verified by jumping experiment that the mechanism can realize jumping action under control,and can achieve the horizontal dis-placement of 500 mm and the vertical displacement of 250 mm.
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