摘要：AbstractVariable stiffness actuation and soft robotics are growing fields of interest in research due to their close link to the feasibility of human-machine-interaction. In this paper, we give the modeling and control of a pneumatically actuated robot with three degrees of freedom based on the antagonist principle. The use of pneumatic actuators brings the benefit of an inherit softness and utilizing the mean force of the antagonists, we can influence the stiffness of the overall system. We present a cascaded control concept using feedback linearization for the pneumatics, decoupling the mechanical dynamics, and taking into account the constructive limitations to the available torque. The control concept is then applied to the robot in an experimental setup and its performance is validated.
