Abstract
Breaking up with classical, precision-based control, the work at hand introduces a whole new bio-inspired control philosophy, the so-called imprecise impedance control. By combining technical and biological research observations, a very simple, but effective way of artificial, muscular control based on electrical series elastic actuators is developed. The presented control structure includes the whole drive train starting from abstract, digital control commands and ending with the electrical current that is given to the motors. Experimental evaluation demonstrates the proper functioning of the control as well as its stability and limitations.
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Vonwirth, P., Berns, K. (2023). Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_7
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