Modeling of braided pneumatic actuators for robotic control

Braided pneumatic actuators exhibit non-linear force-length properties grossly similar to muscle, and have a high strength-to-weight ratio. These properties make them desirable for legged robots. The work emphasizes understanding the actuator properties for later use in simulation and control of legged robots. Static and dynamic mathematical models for the actuators are reported and verified through testing and simulation. In addition, a dynamic air flow model modulated by a solenoid valve was developed to provide modular actuation subroutines for simulation.