Design and mechanics of an antagonistic biomimetic actuator system

Author

Kolacinski, Richard M. ; Quinn, Roger D.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH, USA

Volume

2

fYear

1998

Firstpage

1629

Abstract

The design of a biomimetic actuation system which independently modulates position and net stiffness is presented. The system is obtained by antagonistically pairing contractile devices capable of modulating their rate of geometric deformation relative to the rate of deformation of a passive elastic storage element in series with the device´s input source. A mechanical model is developed and the properties of the device are investigated. The local properties of the system are then investigated via Lyaponov´s linearization method

Keywords

Lyapunov methods; actuators; control system analysis; controllability; dynamics; linearisation techniques; stability; Lyaponov´s linearization method; antagonistic biomimetic actuator system; contractile devices; geometric deformation; mechanical model; net stiffness; passive elastic storage element; position modulation; Actuators; Biological systems; Biomimetics; Cables; Energy storage; Feedback control; Legged locomotion; Mechanical factors; Motion control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677385

Filename

677385