References [1] F. Daerden, "Conception and realization of pleated pneumatic artificial muscles and their use as compliant actuation elements," PhD Dissertation, Vrije Universiteit Brussel, July 1999. [2] D. G. Caldwell, G. A. M. Cerda and M. Goodwin "Control of pneumatic muscle actuators," Control Systems Magazine, IEEE Vol. 15, pp.40-48, Feb 1995. [3] T. D. C. Thanh and K. K. Ahn, "Intelligent Phase Plane Switching Control of Pneumatic Artificial Muscle Manipulators with Magneto Rheological Brake," Mechatronics (Mechatronics) ISSN 0957-4158 vol. 16, pp. 85-95, 2006. [4] F. Daerden, D. Lefeber, B. Verrelst and R.V. Ham, "Pleated pneumatic artificial muscles," compliant robotic actuators 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii October- November 2001, pp. 1958-1963. [5] F. Daerden and D. Lefeber, "The concept and design of pleated pneumatic artificial muscles," International Journal of Fluid Power, 2001. [6] A.V. Gonzales, P. Cinquin, J. Troccaz, A. Guerraz, B. Hennion, F. Pellissier, P. Thorel, F. Courreges, A. Gourdon, G. Poisson, P.Vieyres and P. Caron, "TER: a system for robotic tele-echography,"2002. [7] M. L. Turner, R. P. Findley, W. B. Griffin, M. R. Cutkosky and D. H. Gomez, "Development and Testing of a Tele manipulation System with Arm and Hand Motion," [8] K. Hosoda and T. Takuma, "Ballistic.Control for 2D/3D Pneumatic Actuated Walking Robots," Proceedings of Workshop on Morphology,Control and Passive Dynamics, 2005. [9] M. Wisse and J. V. Frankenhuyzen, "Design and construction of mike; 2d autonomous biped based on passive dynamic walking," International Symposium on Adaptive Motion of Animals and Machines, 3 2003. [10] B. Vanderborght, B. Verrelst, V. R Ham, J. Naudet, J. Vermeulen, D. Lefeber and F. Daerden, "LUCY a Bipedal Walking Robot with Pneumatic Artificial Muscles," IEEE Mechatronics and Robotics 2004, Aachen. Germany, September 2004. 51 [11] H. Ritter, R. Haschke, R. Koiva, F. Rothling and J J . Steil, "A layered control architecture for imitation grasping with a 20-DOF pneumatic anthropomorphic hand," Neuroinformatics Group. Faculty of Technology, University of Bielefeld. [12] X. Chang and J. H. Lilly, "Fuzzy Control for Pneumatic Muscle Tracking via Evolutionary Tuning," Intelligent Automation and Soft Computing, international Journal, Publisher: Autosoft Press, Albuguerque. ISSN: 1079- 8587. [13] J. H. Lilly, "Adaptive Tracking for Pneumatic Muscle Actuators in Bicep and Tricep Configurations," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 11, no.3, September 2003. [14] M. Zeller, K. R. Wallace and K. Schulten., "Biological visuomotor control of a pneumatic robot arm," Intelligent Engineering Systems Through Artificial Neural Networks, American Society of Mechanical Engineers. New York, vol. 5, pp.645-650, 1995. [15] F. Daerden and D. Lefeber, "Pneumatic artificial muscles: actuators for robotics and automation," European Journal of Mechanical and Environmental Engineering, 2002. [16] R. W. Colbrunn, G. M. Nelson and R. D. Quinn, "Modeling of Braided Pneumatic Actuators for Robotic Control," Case Western Reserve University. [17] P. Beyl, B. Vanderborght, R. V. Ham, M.V. Damme, R. Versluys and D. Lefeber "Compliant actuation in New Robotic Applications," Proceedings of the NCTAM06 - 7th National Congress on Theoretical and Applied Mechanics. Belgium, May 29th and 30th 2006. [18] S. Maas, M. Wiering and B. Verhaar, "Reinforcement Learning of a Pneumatic Robot Arm Controller," September 2004. [19] A. Hildebrandt, O. Sawodny, R. Neumann and A. Hartmann, "A Flatness Based Design for Tracking Control of Pneumatic Muscle Actuators," Seventh International Conference on Control, Automation, Robotics And Vision (ICARCV'02), Singapore, Dec 2002. 52 [20] V. M. Damme, F. Daerden and D. Lefeber,"A Pneumatic Manipulator used in Direct Contact with an Operator," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005 pp. 4505-4510. [21] M. Zeller, R. Sharma, K. Schulten, "Topology Representing network for sensor based robot motion planning," http://citeseer.ist.psu.edu/zeller96topologv.html, 1996. [22] T. Hesselroth, K. Sarkar, P.P.V. Smagt and K. Schulten, "Neural Network Control of a Pneumatic Robot Arm," IEEE Trans, on Systems, Man and Cybernetics, vol. 24, no. 1, PP- 28-38, January 1994. [23] B. Tondu and P. Lopez, "Modeling and control of Mckibben Artificial Muscle Robot Actuators," IEEE Control Systems Magazine 20(2), pp. 15-38, 2000. [24] K. Hosoda, T. Takuma and M. Ishikawa, "Design and Control of a 3D Biped Robot Actuated by Antagonistic Pairs of Pneumatic Muscles" Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines, 2005. [25] P. Carbonell, Z. P. Jiang, and D. Repperger, "Nonlinear Control of a Pneumatic Muscle Actuator: backstepping vs. Sliding-mode," Proc. Of the IEEE International Conference on Control Applications, Mexico, 2001. [26] http://www.arn.org/docs/glicksinan/eyw 040901 .htm. [27] Lanka Udawatta, P.G.S. Priyadarshana and Sanjeeva Witharana, " Control of Pneumatic Artificial Muscle for Bicep Configuration Using IBC" Proc. 3rd International Conference on Information and Automation for sustainability, 4-6 December 2007. [28] S. Devasia, D. chen, and B.paden,"Nonlinear Inversion-based output tracking," IEEE Tran.Automat Contr.,vol.4l,pp.930-942,July 1996. [29] S. Devasia, and Q. Zon,"Preview-Based Optimal Inversion for Output Tracking: Application to Scanning Tunneling Microscopy," IEEE Tran.Automat Contr., vol.12, No 3, May 2004. [30] D. Kwon and W.J.Book, "A time-domain inverse dynamic tracking control of a single-link flexible manipulator," J.Dyanamic Syst. Measurement Control, vol.116, no.2, pp. 193-200, 1994. [31] B.Parden, D.Chen, R.Ledsema, and E. Bayo,"Exponentially stable tracking control for Multi-joint Flexible manipulators," ASME J.Dyanamic Syst. Measurement Control, vol. 115, no.2, pp.53-59, 1993. [32] C.Tomlin, J.Lygeros and S.Sastry, "Output Tracking for nonminimum phase dynamic CTOL aircraft Model," in Proc. IEEE conf. Decision and Control, New Orleans, LA, 1995, pp. 1867-1872. 54