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Biologically Inspired Control of a Compliant Anthropomimetic Robot
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posted on 2023-06-08, 09:10 authored by V Potkonjak, B Svetozarevic, K Jovanovic, O HollandAnthropomimetics copying nature in order to construct and control similar mechanism in technical world is an increasingly attractive research topic. Its core objective is achieving human efficiency in the aspects of technical world where engineering still cannot compete biology (diversity of motions, manoeuvrability, etc). This paper attempts to develop the appropriate dynamic model and design control for an anthropomimetic humanoid ECCEROBOT. Robot has a human-like mechanical structure skeleton. To mimic muscles, robot joints are driven by antagonistically coupled DC motors with tendons. Since the robot is expected to work in a human centered environment and in the presence of humans, an important accent is given to the safe interaction with the surrounding. To resolve the safety, robot involves passive mechanical compliance elastic springs in tendons. The paper derives the mathematical model of robot dynamics, designed for simulation. The control of antagonistic drives is based on a biologically inspired puller-and follower concept where the puller is responsible for joint motion while the follower keeps the inactive tendon from slackening. The advanced theory of nonlinear control was used for particular joints and the theory of robustness was necessary for applying the control to multi-joint robot body.
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Publication status
- Published
Publisher
ACTA Press ScientificPublisher URL
Pages
8.0Presentation Type
- paper
Event name
15th IASTED Intl. Conf. on Robotics and ApplicationsEvent location
Cambridge, MAEvent type
conferenceISBN
978-0-88986-862-5Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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