MODEL-BASED ELASTIC TENDON CONTROL FOR ELECTRICALLY ACTUATED MUSCULOSKELETAL BIPEDS
NATURE INSPIRED MOBILE ROBOTICS(2013)
摘要
Human-inspired musculoskeletal design of bipedal robots offers great potential towards enhanced dynamic and energy-efficient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system's complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The effectiveness of the proposed approach is evaluated for hopping-in-place motions on the simulation model of the BioBiped1 robot, a human-inspired musculoskeletal biped featuring a highly compliant tendon-driven actuation system.
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