This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot’s dynamics, starting from the “Flier” approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5483-9
PROCEEDINGS PAPER
Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks
Veljko Potkonjak,
Veljko Potkonjak
University of Belgrade, Belgrade, Serbia
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Kosta Jovanovic,
Kosta Jovanovic
University of Belgrade, Belgrade, Serbia
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Bratislav Svetozarevic,
Bratislav Svetozarevic
Swiss Federal Institute of Technology, Zurich, Switzerland
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Owen Holland,
Owen Holland
University of Sussex, Brighton, Falmer, UK
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Dusan Mikicic
Dusan Mikicic
University of Belgrade, Belgrade, Serbia
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Veljko Potkonjak
University of Belgrade, Belgrade, Serbia
Kosta Jovanovic
University of Belgrade, Belgrade, Serbia
Bratislav Svetozarevic
Swiss Federal Institute of Technology, Zurich, Switzerland
Owen Holland
University of Sussex, Brighton, Falmer, UK
Dusan Mikicic
University of Belgrade, Belgrade, Serbia
Paper No:
DETC2011-47256, pp. 23-32; 10 pages
Published Online:
June 12, 2012
Citation
Potkonjak, V, Jovanovic, K, Svetozarevic, B, Holland, O, & Mikicic, D. "Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 23-32. ASME. https://doi.org/10.1115/DETC2011-47256
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