Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs

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Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs

Vonwirth, Patrick / Berns, Karsten

Breaking up with classical, precision-based control, the work at hand introduces a whole new bio-inspired control philosophy, the so-called imprecise impedance control. By combining technical and biological research observations, a very simple, but effective way of artificial, muscular control based on electrical series elastic actuators is developed. The presented control structure includes the whole drive train starting from abstract, digital control commands and ending with the electrical current that is given to the motors. Experimental evaluation demonstrates the proper functioning of the control as well as its stability and limitations.

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Dokumentinformationen

Titel :

Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs

Weitere Titelangaben:

Lect. Notes in Networks, Syst.

Beteiligte:

Cascalho, José M. (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Funk, Matthias (Herausgeber:in) / Vonwirth, Patrick (Autor:in) / Berns, Karsten (Autor:in)

Kongress:

Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022

Erschienen in:

Robotics in Natural Settings ; Kapitel : 7 ; 42-53

Lecture Notes in Networks and Systems ; 530

Erscheinungsdatum :

2022-08-25

Format / Umfang :

12 pages

ISBN :

978-3-031-15226-9 , 978-3-031-15225-2

ISSN :