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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Potkonjak, Veljko Jovanovic, Kosta Svetozarevic, Bratislav Holland, Owen Mikicic, Dusan |
| Copyright Year | 2011 |
| Abstract | This 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 human-centered 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 the robot’s 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 first 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. |
| Sponsorship | Design Engineering Division and Computers and Information in Engineering Division |
| Starting Page | 23 |
| Ending Page | 32 |
| Page Count | 10 |
| File Format | |
| ISBN | 9780791854839 |
| DOI | 10.1115/DETC2011-47256 |
| Volume Number | Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2011-08-28 |
| Publisher Place | Washington, DC, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Design Simulation Dynamics (mechanics) Control equipment Control modeling Dynamic models Motors Muscle Robustness Springs Robots Tendons |
| Content Type | Text |
| Resource Type | Article |
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