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5 10 15 20 25
0
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(a)
(b)
Figure 13: Experimental results: (a)ISMA (A) Vs Time (s)
at 1Hz, (b)Vinput (V) Vs Time (s) at 1.5 Hz.
used like a steeper motor (because we can control the
contraction length and have resolution of steps from
less than a millimeterr) or continuous motor in ap-
plications where the weight a size are critical, and in
particular to make less complex robots reducing the
control and hardware cost.
ACKNOWLEDGEMENTS
William Coral acknowledge to the Administrative
Department of Science, Technology and Innova-
tion (COLCIENCIAS) (grant call 568 2013) and
COLFU TU RO (grant call 2012) from Colombia for
its support. The authors acknowledge the support
of the Robotics and Cybernetics Group at the Cen-
tre for Automation and Robotics UPM-CSIC, the
project ROBOCITY 2030 (Community of Madrid S-
0505/DPI/000235) and the project ROTOS (Ministry
of Science And Innovation of Spain DPI2010-17998).
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