Control Of Compliant Anthropomimetic Robot Joint

Potkonjak, Veljko, Svetozarevic, Bratislav, Jovanovic, Kosta and Holland, Owen (2010) Control Of Compliant Anthropomimetic Robot Joint. In: 8th International Conference on Numerical Analysis and Applied Mathematics (Symposium on Computational Geometric Methods in Multibody System Dynamics),, Rhodes, Greece.

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In this paper we propose a control strategy for a robot joint which fully mimics the typical human joint structure. The joint drive is based on two actuators (dc motors), agonist and antagonist, acting through compliant tendons and forming a nonlinear multi-input multi-output (MIMO) system. At any time, we consider one actuator, the puller, as being responsible for motion control, while the role of the other is to keep its tendon force at some appropriate low level. This human-like and energetically efficient approach requires the control of "switching", or exchanging roles between actuators. Moreover, an algorithm based on adaptive force reference is used to solve a problem of slacken tendons during the switching and to increase the energy efficiency. This approach was developed and evaluated on increasingly complex robot joint configurations, starting with linear and noncompliant system, and finishing with nonlinear and compliant system.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Owen Holland
Date Deposited: 06 Feb 2012 20:22
Last Modified: 13 Apr 2012 14:30
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