Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

Hiroyuki Kawai; Toshiyuki Murao; Ryuichi Sato; Masayuki Fujita

doi:10.1109/CCA.2011.6044445

Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

Hiroyuki Kawai^*, Toshiyuki Murao, Ryuichi Sato, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Control Applications
Pages	1451-1456
Number of pages	6
DOIs	https://doi.org/10.1109/CCA.2011.6044445
Publication status	Published - 2011
Event	2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO Duration: 2011 Sept 28 → 2011 Sept 30

Other

Other	2011 20th IEEE International Conference on Control Applications, CCA 2011
City	Denver, CO
Period	11/9/28 → 11/9/30

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

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10.1109/CCA.2011.6044445

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Kawai, H, Murao, T, Sato, R & Fujita, M 2011, Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. in Proceedings of the IEEE International Conference on Control Applications., 6044445, pp. 1451-1456, 2011 20th IEEE International Conference on Control Applications, CCA 2011, Denver, CO, 11/9/28. https://doi.org/10.1109/CCA.2011.6044445

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abstract = "This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.",

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doi = "10.1109/CCA.2011.6044445",

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AB - This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

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Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

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