Title :
Significance of Force-Feedback in Controlling Artificial Locomotion-Manipulation Systems
Author :
Vukobratovic, Miomir ; Stokic, Dragan
Author_Institution :
Miahilo Pupin Institute
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;
Journal_Title :
Biomedical Engineering, IEEE Transactions on
DOI :
10.1109/TBME.1980.326596
