Paper Info
Title
Simultaneous position-stiffness control of antagonistically driven twisted-coiled polymer actuators using model predictive control.
Abstract
Super-coiled polymer (SCP) artificial muscles have many interesting properties that show potentials for making high performance bionic devices. To realize human-like robotic devices from this type of actuator, it is important for the SCP driven mechanisms to achieve human-like performance, such as compliant behaviors through antagonistic mechanisms. This paper presents the simultaneous position-stiffness control of an antagonistic joint driven by hybrid twisted-coiled polymer actuation bundles made from Spandex and nylon fibers, which is a common human compliant behavior. Based on a linear model of the system, which is identified and verified experimentally, a controller based on model predictive control (MPC) is designed. The MPC performance is enhanced by the incorporation of time delay estimation to estimate model variations and external disturbances. The controlled system is verified through simulations and experiments. The results show the controller’s ability to control the joint angle with the highest position error of 0.6 degrees while changing joint stiffness, verified with step command and sinusoidal reference with composite frequencies of 0.01Hz to 0.1Hz.
Year
DOI
Venue
2020
10.1109/IROS45743.2020.9340727
IROS
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
0
7
Name
Order
Citations
PageRank
Tuan Anh Luong101.69
Kihyeon Kim201.69
Sungwon Seo302.70
Jeongmin Jeon421.25
Ja Choon Koo5448.70
Hyouk Ryeol Choi633760.51
Hyungpil Moon717538.32