2014 Fiscal Year Final Research Report
Passivity-based Visual Force Feedback Control for 2DOF Robot Manipulators with Antagonistic Bi-Articular Muscles
| Project/Area Number |
24760343
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering
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| Research Institution | Kanazawa Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2015-03-31
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| Keywords | 制御工学 / 知能ロボティクス / 二関節筋 / 視覚情報 / 触覚情報 |
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| Outline of Final Research Achievements |
This project investigates new control methods for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles in order to realize robot control of locomotion that has acquired the flexibility for the environment with a biological strategy. Firstly, open-loop control, which does not need the joint angles and velocities, is discussed for the 2DOF bi-articular manipulator dynamics. Next, iterative learning control based on passivity is considered to obtain the robustness for parametric uncertainty. Simulation and experimental results are shown to confirm the proposed methods and give us a new difficulty to realize the mechanism of antagonistic bi-articular muscles.
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| Free Research Field |
ロボット制御工学
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