DocumentCode
1224867
Title
Significance of Force-Feedback in Controlling Artificial Locomotion-Manipulation Systems
Author
Vukobratovic, Miomir ; Stokic, Dragan
Author_Institution
Miahilo Pupin Institute
Issue
12
fYear
1980
Firstpage
705
Lastpage
713
Abstract
In the paper two aspects of force-feedback implementation in controlling artificial locomotion-manipulation systems are considered: 1) as a global control, for reducing the influence of coupling among subsystems when decentralized control is applied, and (b) for solving dynamic control tasks often encountered when the aforementioned systems are considered. In order to illustrate the implementation of force-feedback, four examples are presented, two for a biped system and two for an anthropomorphic manipulator.
Keywords
Actuators; Anthropomorphism; Centralized control; Control systems; Distributed control; Feedback loop; Force control; Joints; Large-scale systems; Manipulators; Biomechanics; Biomedical Engineering; Feedback; Locomotion; Models, Biological; Movement; Posture;
fLanguage
English
Journal_Title
Biomedical Engineering, IEEE Transactions on
Publisher
ieee
ISSN
0018-9294
Type
jour
DOI
10.1109/TBME.1980.326596
Filename
4123175
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