Title :
Design and mechanics of an antagonistic biomimetic actuator system
Author :
Kolacinski, Richard M. ; Quinn, Roger D.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
The design of a biomimetic actuation system which independently modulates position and net stiffness is presented. The system is obtained by antagonistically pairing contractile devices capable of modulating their rate of geometric deformation relative to the rate of deformation of a passive elastic storage element in series with the device´s input source. A mechanical model is developed and the properties of the device are investigated. The local properties of the system are then investigated via Lyaponov´s linearization method
Keywords :
Lyapunov methods; actuators; control system analysis; controllability; dynamics; linearisation techniques; stability; Lyaponov´s linearization method; antagonistic biomimetic actuator system; contractile devices; geometric deformation; mechanical model; net stiffness; passive elastic storage element; position modulation; Actuators; Biological systems; Biomimetics; Cables; Energy storage; Feedback control; Legged locomotion; Mechanical factors; Motion control; Stability;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677385
