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Antagonistic Control of Multi-DOF Joint

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

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Abstract

This paper presents a mechanical system that fundamentally mimics a human musculo-skeletal system aiming for using it in anthropomorphic robots or artificial limbs for disabled persons. At first, it introduces a mechanical module called ANLES (Actuator with Non-Linear Elasticity System). A new type of ANLES; rotary-type ANLES is introduced first in this paper, in addition to the formerly developed ANLES; linear type ANLES. They can be used like a voluntary muscle in a musculo-skeletal structure. Next it derives dual equations to independently control joint angle and joint stiffness, in which antagonistic alignment of the ANLESes similar to a musclo-skeletal system is premised. It follows to show an application of the two types of ANLES into a three DOF artificial joint arranged to use as a wrist joint of an anthropomorphic robot. The experimental results of the joint stiffness and joint angle control elucidates that the developed mechanism effectively mimics the human musculo-skeletal system.

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Authors and Affiliations

  1. Dept. of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname Hiratsuka, Kanagawa, 259-1292, Japan

    Koichi Koganezawa

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  1. Koichi Koganezawa
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Correspondence to Koichi Koganezawa .

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Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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Koganezawa, K. (2013). Antagonistic Control of Multi-DOF Joint. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_45

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_45

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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