NDLI: Infinity norm approach for precise force control of manipulators driven by bi-articular actuators

Content Provider	IEEE Xplore Digital Library
Author	Salvucci, V. Sehoon Oh Hori, Y.
Copyright Year	2010
Description	Author affiliation: Department of Electrical Engineering, School of Engineering, University of Tokyo, 3-7-1, Hongo Bunkyoku Tokyo, Japan (Salvucci, V.; Sehoon Oh; Hori, Y.)
Abstract	In recent years there has been increasing interest in manipulators presenting animal muskuloskeletal characteristics such as bi-articular actuators. Manipulators driven by bi-articular actuators usually have more actuators than joints, presenting therefore actuator redundancy. In this paper a new approach based on ∞-norm to resolve actuators redundancy is proposed. The proposed method is compared with the Phase Different Control (PDC) approach, which is based on human muscle activation level patterns. It is shown that the infinity norm approach produces no error in output force, while the PDC approach produces non-zero error. Moreover, in this paper, a PDC approach with non-linear model that eliminates error in output force is also proposed. However the PDC approach with non-linear model is more complex than the proposed infinity norm approach.
Starting Page	1908
Ending Page	1913
File Size	692992
Page Count	6
File Format	PDF
ISBN	9781424452255
ISSN	1553572X
DOI	10.1109/IECON.2010.5675356
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Force Joints End effectors Muscles Torque
Content Type	Text
Resource Type	Article

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