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This paper introduces a new control method for pneumatic actuators, called "Proportional Position and Stiffness (PPS)" controller. The PPS method provides both position and stiffness control for a robot joint driven by a pneumatic cylinder with four ON-OFF valves. In addition, the proposed control system consumes much less compressed air than comparable strategies. These features make the PPS method highly suitable to application in mobile robots.
Granosik et al. (Thu,) studied this question.
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