Thumbnail
Access Restriction
Open

Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Control Design ♦ Anthropomimetic Robot Eccerobot ♦ Key Word Bio-inspired Robotics ♦ Robust Control ♦ Puller-follower Concept ♦ Robotic Joint ♦ Non-linear Control ♦ Passive Compliance ♦ Multi-joint Control Level ♦ Human Physiology ♦ Multi-jointed Anthropomimetic Robot ♦ Compliant Drive ♦ Antagonistic Drive
Abstract Copying human physiology leads us to the first truly anthropomimetic robot- ECCEROBOT, driven by the antagonistically coupled compliant drives. Control design of such a mechanism appears as a really demanding and challenging mission. Puller-follower concept, developed for the robotic joint with antagonistically coupled drives, is expanded to the multi-joint control level. Problems in control of the multi-jointed anthropomimetic robot are highlighted in this paper, and solutions through the robust control and model based compensations are proposed. KEY WORDS Bio-inspired robotics, antagonistic drives, non-linear control, passive compliance. 1.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Publisher Date 2011-01-01