Design, Modeling and Control of a Biologically-Inspired Bat Robot: Plenary Talk

This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot’s dynamics, starting from the “Flier” approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.

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Modeling and control of biologically inspired flying robots

Robotica ◽

10.1017/s0263574711000312 ◽

2011 ◽

Vol 30 (1) ◽

pp. 107-121 ◽

Cited By ~ 12

Author(s):

Micael S. Couceiro ◽

J. Miguel A. Luz ◽

Carlos M. Figueiredo ◽

N. M. Fonseca Ferreira

Keyword(s):

Dynamic Models ◽

Dynamic Control ◽

Biologically Inspired ◽

Modeling And Control ◽

High Level ◽

New Generation ◽

And Control ◽

Level Calculation ◽

Potential Use ◽

Flying Robots

SUMMARYThis paper covers a wide knowledge of physical and dynamical models useful for building flying robots and a new generation of flying platform developed in the similarity of flying animals. The goal of this work is to develop a simulation environment and dynamic control using the high-level calculation tool MatLab and the modeling, simulation, and analysis of dynamic systems tool Simulink. Once created the dynamic models to study, this work involves the study and understanding of the dynamic stability criteria to be adopted and their potential use in the control of flying models.

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Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Actuators ◽

10.3390/act10020029 ◽

2021 ◽

Vol 10 (2) ◽

pp. 29

Author(s):

Vítor H. Pinto ◽

José Gonçalves ◽

Paulo Costa

Keyword(s):

Design Process ◽

Low Cost ◽

Biologically Inspired ◽

External Disturbances ◽

State Space Approach ◽

Modeling And Control ◽

Locomotion System ◽

Rigid Joints ◽

And Control ◽

Space Approach

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

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Biologically inspired control and modeling of (bio)robotic systems and some applications of fractional calculus in mechanics

Theoretical and Applied Mechanics ◽

10.2298/tam1301163l ◽

2013 ◽

Vol 40 (1) ◽

pp. 163-187

Author(s):

Mihailo Lazarevic

Keyword(s):

Fractional Calculus ◽

Mechanical System ◽

Robotic Systems ◽

Main Role ◽

Biologically Inspired ◽

Modeling And Control ◽

Invariant Features ◽

Minimum Interaction ◽

And Control ◽

Biologically Inspired Control

In this paper, the applications of biologically inspired modeling and control of (bio)mechanical (non)redundant mechanisms are presented, as well as newly obtained results of author in mechanics which are based on using fractional calculus. First, it is proposed to use biological analog-synergy due to existence of invariant features in the execution of functional motion. Second, the model of (bio)mechanical system may be obtained using another biological concept called distributed positioning (DP), which is based on the inertial properties and actuation of joints of considered mechanical system. In addition, it is proposed to use other biological principles such as: principle of minimum interaction, which takes a main role in hierarchical structure of control and self-adjusting principle (introduce local positive/negative feedback on control with great amplifying), which allows efficiently realization of control based on iterative natural learning. Also, new, recently obtained results of the author in the fields of stability, electroviscoelasticity, and control theory are presented which are based on using fractional calculus (FC).

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