Biomimetic Trajectory Planning Via Redundant Actuation
- Title
- Biomimetic Trajectory Planning Via Redundant Actuation
- Author
- 이병주
- Keywords
- Biomimetics; Trajectory; Impedance; Frequency; Springs; Actuators; Humans; Feedback control; Intelligent robots; Intelligent structures
- Issue Date
- 2000-11
- Publisher
- IEEE/RSJ
- Citation
- Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, v. 3, page. 1778-1784
- Abstract
- It is well-known that bio-systems do not calculate inverse dynamics for trajectory planning, but they move by proper modulation of the system's impedances. Inspired by bio-systems, a biomimetic trajectory planning method is introduced. This scheme is based on employment of redundant actuation which prevails in bio-systems. We explain that in the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role to completely modulate the dynamic behaviour of a system, such as natural frequencies and damping ratios. A five-bar mechanism equipped with two redundant actuators is employed to demonstrate the feasibility of the proposed biomimetic trajectory experimentally.
- URI
- https://ieeexplore.ieee.org/document/895229?arnumber=895229&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/162456
- ISBN
- 0-7803-6348-5
- DOI
- 10.1109/IROS.2000.895229
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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