Vision-Based Motion Control of Pneumatic Group Actuators

– A vision-based approach to the motion control of pneumatic group actuators is presented. Sensing of plate locations consisting of the pneumatic group actuator is essential to cope with the variation of elastic tubes of the actuator. Plate locations are measured by a vision system and the motion of the actuator is controlled using a roughly identified relationship between air pressure imposed on individual tubes and the plate locations.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Shinichi Hirai, Kiyoto Shimizu, Sadao Kawamura
• Keywords: ICRA 2002, Plate Locations, Pneumatic Group Actuator, Robotics, Vision-based Approach