Name
Abstract | ||
|---|---|---|
This paper presents a human-like control of an innovative biped robot. The robot presents a total of twelve degrees of freedom; each joint resemble the functionalities of the human articulation and is moved by tendons connected with an elastic actuator located in the robot's pelvis. We implemented and tested an innovative control architecture (called elastic-reactive control) that permits to vary the joint stiffness in real time maintaining a simple position-control paradigm. The controller is able to estimate the external load measuring the spring deflection and demonstrated to be particularly robust respect to system uncertainties, such as inertia value changes. Comparing the resulting control law with existing models we found several similarities with the Equilibrium Point Theory. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1007/11521082_18 | Biomimetic Neural Learning for Intelligent Robots |
Keywords | Field | DocType |
equilibrium point theory,joint stiffness,external load,elastic-reactive control,innovative biped robot,resulting control law,human-like control,human articulation,elastic actuator,innovative control architecture,human modelling,real time,degree of freedom,equilibrium point | Joint stiffness,Computer science,Equilibrium point,Control engineering,Artificial intelligence,Robotics,Humanoid robot,Distributed computing,Control theory,Simulation,Robot,Human Modelling,Actuator | Conference |
Volume | ISSN | ISBN |
3575 | 0302-9743 | 3-540-27440-5 |
Citations | PageRank | References |
3 | 0.55 | 8 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Umberto Scarfogliero | 1 | 58 | 9.32 |
| Michele Folgheraiter | 2 | 44 | 11.96 |
| Giuseppina Gini | 3 | 133 | 36.39 |