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Modelling and control of a compliantly engineered anthropomimetic robot in contact tasks
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posted on 2023-06-07, 23:32 authored by Veljko Potkonjak, Kosta Jovanovic, Bratislav Svetozarevic, Owen Holland, Dusan MikicicThis paper attempts to develop a dynamic model and design 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 ensure safe interaction with humans in a humancentered environment, 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 robot dynamics, starting from the "Flier" approach. The control of the antagonistic drives is based on 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 necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.
History
Publication status
- Published
Publisher
ASME PressExternal DOI
Volume
6Page range
23-32Pages
659.0Event name
ASME¿2011 ¿ 35th Mechanisms and Robotics ConferenceEvent location
Washington DCEvent type
conferenceBook title
ASME 2011 international design engineering technical conferences and computers and information in engineering conference: 35th mechanisms and robotics conference, parts A and BPlace of publication
New YorkISBN
9780791854839Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2013-05-07Usage metrics
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