Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision
Bio-inspired and compliant control approaches have been studied by roboticists for decades to achieve more natural robot motion. Independent of this, medical and biological researchers have discovered a wide variety of muscular properties and higher-level motion characteristics. Although both discip...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/5/2428 |
| _version_ | 1797614365524885504 |
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| author | Patrick Vonwirth Karsten Berns |
| author_facet | Patrick Vonwirth Karsten Berns |
| author_sort | Patrick Vonwirth |
| collection | DOAJ |
| description | Bio-inspired and compliant control approaches have been studied by roboticists for decades to achieve more natural robot motion. Independent of this, medical and biological researchers have discovered a wide variety of muscular properties and higher-level motion characteristics. Although both disciplines strive to better understand natural motion and muscle coordination, they have yet to meet. This work introduces a novel robotic control strategy that bridges the gap between these distinct areas. By applying biological characteristics to electrical series elastic actuators, we developed a simple yet efficient distributed damping control strategy. The presented control covers the entire robotic drive train, from abstract whole-body commands to the applied current. The functionality of this control is biologically motivated, theoretically discussed, and finally evaluated through experiments on the bipedal robot <span style="font-variant: small-caps;">Carl</span>. Together, these results demonstrate that the proposed strategy fulfills all requirements that are necessary to continue developing more complex robotic tasks based on this novel muscular control philosophy. |
| first_indexed | 2024-03-11T07:11:24Z |
| format | Article |
| id | doaj.art-658bcaa43dc34eb993e59e09e775ce6a |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T07:11:24Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-658bcaa43dc34eb993e59e09e775ce6a2023-11-17T08:34:36ZengMDPI AGSensors1424-82202023-02-01235242810.3390/s23052428Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable PrecisionPatrick Vonwirth0Karsten Berns1Department of Computer Science, RPTU Kaiserslautern-Landau, 67663 Kaiserslautern, GermanyDepartment of Computer Science, RPTU Kaiserslautern-Landau, 67663 Kaiserslautern, GermanyBio-inspired and compliant control approaches have been studied by roboticists for decades to achieve more natural robot motion. Independent of this, medical and biological researchers have discovered a wide variety of muscular properties and higher-level motion characteristics. Although both disciplines strive to better understand natural motion and muscle coordination, they have yet to meet. This work introduces a novel robotic control strategy that bridges the gap between these distinct areas. By applying biological characteristics to electrical series elastic actuators, we developed a simple yet efficient distributed damping control strategy. The presented control covers the entire robotic drive train, from abstract whole-body commands to the applied current. The functionality of this control is biologically motivated, theoretically discussed, and finally evaluated through experiments on the bipedal robot <span style="font-variant: small-caps;">Carl</span>. Together, these results demonstrate that the proposed strategy fulfills all requirements that are necessary to continue developing more complex robotic tasks based on this novel muscular control philosophy.https://www.mdpi.com/1424-8220/23/5/2428bio-inspiredimpedancecontrolartificial musclesseries elastic actuatorhumanoid |
| spellingShingle | Patrick Vonwirth Karsten Berns Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision Sensors bio-inspired impedance control artificial muscles series elastic actuator humanoid |
| title | Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision |
| title_full | Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision |
| title_fullStr | Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision |
| title_full_unstemmed | Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision |
| title_short | Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision |
| title_sort | muscular damping distribution strategy for bio inspired soft motion control at variable precision |
| topic | bio-inspired impedance control artificial muscles series elastic actuator humanoid |
| url | https://www.mdpi.com/1424-8220/23/5/2428 |
| work_keys_str_mv | AT patrickvonwirth musculardampingdistributionstrategyforbioinspiredsoftmotioncontrolatvariableprecision AT karstenberns musculardampingdistributionstrategyforbioinspiredsoftmotioncontrolatvariableprecision |