Pneumatic Servoactuation

Stemming in part from our efforts in developing high power density actuators, our group has worked for some time on design and control methodologies related to pneumatic actuation systems. Some of this work includes energy saving control methodologies for pneumatic servo actuation; pulse-width-modulated control of pneumatic servo actuation; and multi-objective control of pneumatic servo actuation, including simultaneous force and stiffness control. Our group has also developed (and patented) several valve designs, including small scale rotary servovalves and energy-saving servovalves.

Publications

• Dynamic Constraint Based Energy Saving Control
  of Pneumatic Servo Systems
• Energy Saving in Pneumatic Servo Control Utilizing
  Interchamber Cross-Flow
• On the Enhanced Passivity of Pneumatically
  Actuated Impedance-Type Haptic Interfaces
• Independent Stiffness and Force Control of Pneumatic Actuators for ontact Stability during Robot Manipulation
• Simultaneous Force and Stiffness
  Control of a Pneumatic Actuator
• Nonlinear Averaging Applied to the Control of Pulse Width Modulated (PWM) Pneumatic Systems
• Nonlinear Model-Based Control of Pulse Width Modulated
  Pneumatic Servo Systems
• On the Observability of Pressure in a Pneumatic Servo Actuator

Media