Title :
Force control of musculoskeletal manipulator
Author :
Shukor, Ahmad Zaki ; Fujimoto, Yasutaka
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
This paper presents force control of musculoskeletal manipulator. The kinematic and dynamic properties are shown to address the presence of environmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into independent muscle control, end effector step force command, and muscular viscoelasticity control.
Keywords :
end effectors; force control; manipulator dynamics; manipulator kinematics; mechanical contact; viscoelasticity; biarticular structure manipulator; dynamic property; end effector step force command; environmental contact; force control; independent muscle control; kinematic property; monoarticular-only structure manipulator; muscular viscoelasticity control; musculoskeletal manipulator; End effectors; Force; Force control; Jacobian matrices; Joints; Muscles; biarticular muscle; closed kinematic; force control; muscular viscoelasticity; parallel manipulator;
Conference_Titel :
Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on
Conference_Location :
Sarajevo
Print_ISBN :
978-1-4577-1072-8
Electronic_ISBN :
978-1-4577-1071-1
DOI :
10.1109/AMC.2012.6197105
