In the hazardous restoration from disasters, the remote control of construction machinery is required to ensure the worker's safety. However, the radio-controlled construction machinery is limited in types and numbers in Japan, so there is a problem in its conveyance to the destruction sites. To solve this problem, we are developing the pneumatic humanoid robot arm with the aim of easy installation and portability. For this purpose, we've made 2-link robot arm using artificial rubber muscles experimentally and studied its control. In this paper, we'll show that the position controller including the pressure controller can control an artificial rubber muscle with little steady-state error.
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