Abstract
Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.
| Original language | English |
|---|---|
| Pages (from-to) | 851-864 |
| Number of pages | 14 |
| Journal | Advanced Robotics |
| Volume | 31 |
| Issue number | 16 |
| DOIs | |
| Publication status | Published - Aug 18 2017 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications
Cite this
Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator : analysis of a two-DOF planar system with six tendons. / Kino, H.; Ochi, H.; Matsutani, Y.; Tahara, Kenji.
In: Advanced Robotics, Vol. 31, No. 16, 18.08.2017, p. 851-864.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator
T2 - analysis of a two-DOF planar system with six tendons
AU - Kino, H.
AU - Ochi, H.
AU - Matsutani, Y.
AU - Tahara, Kenji
PY - 2017/8/18
Y1 - 2017/8/18
N2 - Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.
AB - Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.
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UR - http://www.scopus.com/inward/citedby.url?scp=85029476068&partnerID=8YFLogxK
U2 - 10.1080/01691864.2017.1372212
DO - 10.1080/01691864.2017.1372212
M3 - Article
AN - SCOPUS:85029476068
VL - 31
SP - 851
EP - 864
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 16
ER -