Biologically Inspired Control of a Compliant Anthropomimetic Robot

Potkonjak, V, Svetozarevic, B, Jovanovic, K and Holland, O (2010) Biologically Inspired Control of a Compliant Anthropomimetic Robot. In: 15th IASTED Intl. Conf. on Robotics and Applications, Cambridge, MA.

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Anthropomimetics 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.

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 21:11
Last Modified: 13 Apr 2012 14:17
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