摘要：AbstractPneumatic artificial muscles are soft actuators which resemble human skeletal muscles. They are attractive for many applications where safety, human interaction or biomimetic behavior is required. However, its use is not yet widespread because of the difficulties of working with them, such as high nonlinearities, difficult to model and control accurately. This work proposes a simple method for controlling the pneumatic muscle, which is using a PID controller tuned with a simulated annealing optimization algorithm.
