Modular hybrid robots with biologically inspired actuators and joint stiffness control

TitleModular hybrid robots with biologically inspired actuators and joint stiffness control
Publication TypeConference Publication
Year of Publication2008
AuthorsSurdilovic, D, Radojicic J, Schulze M, Dembek M
Conference NameProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages289 - 294
Date Published2008///
Abstract

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by coactivation of opposing redundant actuator groups in the nullspace of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules. © 2008 IEEE.

URLhttp://www.scopus.com/inward/record.url?eid=2-s2.0-63049130781&partnerID=40&md5=2082fbbe9b95b68ba260cbc07cf8a3ae

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