Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors
This paper elaborates upon a musculoskeletal-inspired robot manipulator using a prototype of the spiral motor developed in our laboratory. The spiral motors represent the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. Modelling of the biarticular s...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-10-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/51742 |