DocumentCode
2969251
Title
Animal inspired motion control mechanism
Author
Kumamoto, Minayori
Author_Institution
Kyoto Univ., Japan
fYear
2004
fDate
25-28 March 2004
Firstpage
11
Lastpage
19
Abstract
The two-joint link mechanism provided with one antagonistic pair of the bi-articular actuators in addition to two antagonistic pairs of the mono-articular actuators could demonstrate perfect coordination of these actuators with only single command signal informing output force direction, and could lead smooth, rapid and precise movements without use of positional feedback signal from the endpoint, i.e. an open loop control. Further, the mechanism could demonstrate stable postural control against external disturbances, and dissolve contact task.
Keywords
electromyography; feedback; force control; medical control systems; motion control; open loop systems; animal inspired motion control mechanism; biarticular actuators; electromyography; force control; monoarticular actuators; open loop control; positional feedback signal; postural control; two-joint link mechanism; Actuators; Animals; Electromyography; Force feedback; Humans; Legged locomotion; Motion control; Muscles; Open loop systems; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN
0-7803-8300-1
Type
conf
DOI
10.1109/AMC.2004.1297634
Filename
1297634
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