← Back to Benchmarks
simmediumhumanoidmetric · varies
Exploring the dynamic properties and motion reproducibility of a small upper-body humanoid robot with 13-DOF pneumatic actuation for data-driven control
Description
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent nonlinearities. This paper presents the development of a compact 13-DOF upper-body humanoid robot. To assess the feasibility of an effective controller, we first investigate its key dynamic properties, such as actuation time delays, and confirm that the system exhibit