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Anthropomimetic robot with passive compliance - Contact dynamics and control
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posted on 2023-06-08, 06:18 authored by V Potkonjak, B Svetozarevic, K Jovanovic, O HollandThis paper develops a dynamic model and designs a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot's joints are actuated by DC motors antagonistically coupled through tendons. To facilitate safe interaction with humans, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot's dynamics, starting from the Flier approach. The control of the antagonistic drives uses a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply robust control theory in order to extend control to the multi-joint robot body.
History
Publication status
- Published
Publisher
IEEE PressPages
6.0Presentation Type
- paper
Event name
19th Mediterranean Conference on Control and Automation (MED 2011)Event location
Corfu, GreeceEvent type
conferenceISBN
978-1-4577-0124-5Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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