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Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision.
Patrick Vonwirth1, Karsten Berns1
1Department of Computer Science, RPTU Kaiserslautern-Landau, 67663 Kaiserslautern, Germany.
Sensors (Basel, Switzerland)
|March 11, 2023
Summary
This study introduces a novel robotic control strategy inspired by biological muscle properties to achieve more natural robot motion. This bio-inspired compliant control enhances robotic systems by integrating distributed damping across the entire drive train.
Area of Science:
- Robotics
- Biomechanical Engineering
- Control Theory
Background:
- Roboticists have long pursued bio-inspired and compliant control for natural motion.
- Biological research has identified diverse muscular properties and motion characteristics.
- A gap exists between robotics and biological research concerning natural motion and muscle coordination.
Purpose of the Study:
- To bridge the gap between robotics and biological research by introducing a novel robotic control strategy.
- To develop a simple yet efficient distributed damping control strategy by applying biological characteristics to electrical series elastic actuators.
- To create a biologically motivated control that covers the entire robotic drive train.
Main Methods:
- Applied biological characteristics to electrical series elastic actuators.
- Developed a distributed damping control strategy.
- Theoretically discussed and experimentally evaluated the control strategy on the bipedal robot Carl.
Main Results:
- Demonstrated a novel robotic control strategy inspired by biological muscle properties.
- Successfully implemented a distributed damping control across the robotic drive train.
- Experimental evaluation on a bipedal robot confirmed the strategy's effectiveness.
Conclusions:
- The proposed strategy effectively integrates biological principles into robotic control.
- This bio-inspired approach is suitable for developing more complex robotic tasks.
- The novel muscular control philosophy advances natural robot motion capabilities.
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