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Interactive force control of an elastically actuated bi-articular two-link manipulator

Title
Interactive force control of an elastically actuated bi-articular two-link manipulator
Authors
Lee, ChanOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2017-05-30
Citation
2017 IEEE International Conference on Robotics and Automation, ICRA 2017, 2917-2922
Type
Conference
Article Type
Conference Paper
ISSN
1050-4729
Abstract
In this paper, elastically actuated bi-articular manipulator is developed using a novel compact planetary geared elastic actuator. The newly developed SEA, which is compact and has little backlash, can achieve high force control performance. The configuration of the developed manipulator is designed based on the bi-articular muscle coordination, which can simplify the kinematics of the manipulator. The SEA and bi-articular actuator configuration of the developed manipulator can achieve high performance force control in the workspace, and thus can be utilized for various applications related to the service robot. The mechanism and control algorithm of the novel SEA, and the novel kinematics and dynamics of the developed manipulator are introduced in this paper. Impedance controller is designed based on the kinematics and dynamics of the manipulator and its performance is verified through experiments. © 2017 IEEE.
URI
http://hdl.handle.net/20.500.11750/5432
DOI
10.1109/ICRA.2017.7989339
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Oh, Se Hoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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