NDLI: Novel endeffector stiffness control by biarticular muscle in robot manipulator

Content Provider	IEEE Xplore Digital Library
Author	Sehoon Oh Hori, Y.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, Graduate School of Engineering, University of Tokyo, 4-6-1 Meguroku Komaba, Tokyo, Japan (Sehoon Oh; Hori, Y.)
Abstract	This paper reveals the advantage of the biarticular muscle which has been said to play an important role in human's motion control and applies it to the robot manipulator control. Biarticular muscle changes the energy flow in muscles resulting in efficient motion and help stabilizing the posture of the human body. These advantages are analyzed and reflected to the control of a robot manipulator. In order to analyze these characteristics, we adopt three-pair six-muscle model of human arm including biarticular muscles and derive simple relationship between an endeffector force/position and three muscle torques based on the absolute angle of two joints, and muscle characteristic which has viscoelas-ticity is modeled as PD position feedback control. Based on these modeling, the relationship between the stiffness in the workspace and in the muscle torque space is calculated and simulated to verify the characteristics and roles of the biarticular muscle. The derived equations and simulations verify that a new feedback control introducing the biarticular muscle can stabilize the motion of the endeffector more efficiently.
Starting Page	3130
Ending Page	3135
File Size	383925
Page Count	6
File Format	PDF
ISBN	9781424446483
ISSN	1553572X
e-ISBN	9781424446506
DOI	10.1109/IECON.2009.5415286
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-11-03
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Manipulators Motion control Robot control Humans Feedback control Biological system modeling Force feedback Viscosity Elasticity
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Novel Endeffector Stiffness Control by Biarticular Muscle in Robot Manipulator

Reaction force control of robot manipulator based on biarticular muscle viscoelasticity control

Stiffness direction stabilization and inertia matrix diagonalization of robot manipulator by biarticular muscle

Force control based on biarticular muscle system and its application to novel robot arm driven by planetary gear system

Stiffness control of antagonistically driven redundant D.O.F. manipulator

Muscle mechanics and sensory feedback control

Manipulator operation using joint stiffness adjusting by pneumatic muscles

Force control of musculoskeletal manipulator

Experimental Modeling of Robot Manipulators with Actuator Dynamics for Force and Motion Control

Novel endeffector stiffness control by biarticular muscle in robot manipulator

Similar Documents

Novel Endeffector Stiffness Control by Biarticular Muscle in Robot Manipulator

Reaction force control of robot manipulator based on biarticular muscle viscoelasticity control

Stiffness direction stabilization and inertia matrix diagonalization of robot manipulator by biarticular muscle

Force control based on biarticular muscle system and its application to novel robot arm driven by planetary gear system

Stiffness control of antagonistically driven redundant D.O.F. manipulator

Muscle mechanics and sensory feedback control

Manipulator operation using joint stiffness adjusting by pneumatic muscles

Force control of musculoskeletal manipulator

Experimental Modeling of Robot Manipulators with Actuator Dynamics for Force and Motion Control

Novel endeffector stiffness control by biarticular muscle in robot manipulator