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Model-based elastic tendon control for electrically actuated musculoskeletal bipeds

Radkhah, Kathayon and Stryk, Oskar von (2013):
Model-based elastic tendon control for electrically actuated musculoskeletal bipeds.
In: Proc. Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2013
Creators: Radkhah, Kathayon and Stryk, Oskar von
Title: Model-based elastic tendon control for electrically actuated musculoskeletal bipeds
Language: English
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.

Title of Book: Proc. Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2013CLAWAR1:Radkhah
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