Title :
Compliant piezo-flexdrives for muscle-like, antagonistic actuation of robot joints
Author :
Szufnarowski, Filip ; Schneider, Axel
Author_Institution :
Fac. of Technol., Univ. of Bielefeld, Bielefeld, Germany
Abstract :
This work presents a piezoelectric actuator suitable for actuation of small-sized robot joints. The actuator is provided with position and force sensors and elastic force transmission elements. A novel linear load-compensated actuator model is developed for the actuator. A force controller with the concept of a virtual tendon for tendon slack prevention is presented and applied to the actuator. The mechatronic systems which result from the combination of the actuator, sensors and control strategies are used in an antagonistic arrangement as bioinspired technical implementations of muscles which drive a 1-DOF joint.
Keywords :
biomechanics; force control; force sensors; mechatronics; muscle; piezoelectric actuators; robots; 1-DOF joint; bioinspired technical implementations; compliant piezoflexdrives; elastic force transmission elements; force controller; force sensors; linear load-compensated actuator model; mechatronic systems; muscle-like antagonistic actuation; piezoelectric actuator; position sensors; robot joints; tendon slack prevention; virtual tendon; Actuators; Force; Frequency measurement; Joints; Mathematical model; Polynomials; Tendons;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4244-7708-1
DOI :
10.1109/BIOROB.2010.5627722
