1Paul R P, Shimano B E, Mayer G. Kinematic control equations for simple manipulators[J].IEEE Trans, on SMC, 1981, 11 (6): 449-455.
2Fu K S, Gonzalez R C, Lee C S G. Robotics control sensing vision and intelligence [J]. New York: Mc Graw -Hill, 1987 : 78 - 82.
3Korein J U, Balder N I. Techniques for generating the goal- directed motion of articulated structures. IEEE Computer Graphics and Application, 1982. 2 (9): 71 -84.
4C.P Chou,B Hannaford.Measurement and modeling of McKibben pneumatic artificial muscles[J].IEEE Transactions on Robotics and Automation,1996,12(1):90-102.
5B Tondu,P Lopez.Modeling and control of McKibben artificial muscle robot actuators[J].IEEE Control System Magazine,2000(4):15-38.
3Yang Qinghua, Zhang Libin, Bao Guanjun,et al, Research in Novel Flexible Pneumatic Actuator FPA [C]. IEEE Conference on Robotics, Automation and Mechatronics, 2004: 385-389.
