Radkhah, Kathayon ; Stryk, Oskar von (2013)
Model-based elastic tendon control for electrically actuated musculoskeletal bipeds.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Human-inspired musculoskeletal design of bipedal robots offers great potential towards enhanced dynamic and energy-efficient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system’s complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The effectiveness of the proposed approach is evaluated for hopping-in-place motions on the simulation model of the BioBiped1 robot, a human-inspired musculoskeletal biped featuring a highly compliant tendon-driven actuation system.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Radkhah, Kathayon ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Model-based elastic tendon control for electrically actuated musculoskeletal bipeds |
| Sprache: | Englisch |
| Publikationsjahr: | Juli 2013 |
| Buchtitel: | Proc. Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Human-inspired musculoskeletal design of bipedal robots offers great potential towards enhanced dynamic and energy-efficient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system’s complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The effectiveness of the proposed approach is evaluated for hopping-in-place motions on the simulation model of the BioBiped1 robot, a human-inspired musculoskeletal biped featuring a highly compliant tendon-driven actuation system. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 08 Mai 2019 10:06 |
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