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This article presents a biologically-inspired framework for postural and reaching control of a multi-segment humanoid robot. It is based mainly on the underpinning principles of human postural control as identified in a previous work by the author and tested experimentally on a one-segment special-purpose robot. Thus the goal of this article is to extend the control and estimation architecture to...
In this paper, we develop a robot arm with a bi-articular driving system which can incorporate the principle of the bi-articular muscle characteristics of animals. The arm is different from the conventional robot arms that are driven by actuators inserted in each joint, since it has an additional actuator that can generate the torques in two joints at the same time so that the actuator works as a...
To realize ideal force control of robots that interact with a human, a very precise actuating system with zero impedance is desired. For such applications, a rotary series elastic actuator (RSEA) has been introduced recently. This paper presents the design of RSEA and the associated control algorithms. To generate joint torque as desired, a torsional spring is installed between a motor and a human...
In a relative position control system, where feedfoword control can not be applied and the position control performance is restricted only by the bandwidth of the position controller, a disturbance observer are used actively to enhance the control performance. The position reference is considered as a disturbance by the proposed method. Therefore, the relative position control is performed by the...
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