I-Feng Lee1 , Chin-I Lin1 , Hsin-Che Wu1 , Ling-Chia Wu1 , Pei-Chun Lin1 , Mao-Hsiung Chiang2 and Wen-Pin Shih This email address is being protected from spambots. You need JavaScript enabled to view it.1 

1Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan 106, R.O.C.
2Departement of Engineering Science and Ocean Engineering, National Taiwan University, Taipei, Taiwan 106, R.O.C.


Received: September 3, 2015
Accepted: November 19, 2015
Publication Date: December 1, 2015

Download Citation: ||https://doi.org/10.6180/jase.2015.18.4.07  


A simple robotic leg actuated by pneumatic artificial muscles (PAMs) was constructed and analyzed. Many PAM-driven robots used sophisticated design and intelligent controllers to simulate human motion, but they could be costly and inefficient. This paper demonstrated the implementation of a simple proportional-integral-derivative (PID) controller on the robotic leg, and squat and standing motions were chosen as a pre-study of biped locomotion. Spring-muscle antagonism is applied in the mechanism design. To realize continuous motion asymptotic to human, pulse width modulation (PWM) was applied to the solenoid valves which control the inflation and deflation of the PAMs.

Keywords: Squat, Pneumatic Artificial Muscle, Robotic Leg


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