Force control of musculoskeletal manipulator

Author

Shukor, Ahmad Zaki ; Fujimoto, Yasutaka

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

2012

fDate

25-27 March 2012

Firstpage

1

Lastpage

6

Abstract

This paper presents force control of musculoskeletal manipulator. The kinematic and dynamic properties are shown to address the presence of environmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into independent muscle control, end effector step force command, and muscular viscoelasticity control.

Keywords

end effectors; force control; manipulator dynamics; manipulator kinematics; mechanical contact; viscoelasticity; biarticular structure manipulator; dynamic property; end effector step force command; environmental contact; force control; independent muscle control; kinematic property; monoarticular-only structure manipulator; muscular viscoelasticity control; musculoskeletal manipulator; End effectors; Force; Force control; Jacobian matrices; Joints; Muscles; biarticular muscle; closed kinematic; force control; muscular viscoelasticity; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on

Conference_Location

Sarajevo

Print_ISBN

978-1-4577-1072-8

Electronic_ISBN

978-1-4577-1071-1

Type

conf

DOI

10.1109/AMC.2012.6197105

Filename

6197105