State Space Analysis of Variable-Stiffness Tendon Drive with Non-back-Drivable Worm-Gear Motor Actuation
dc.contributor.author | Howard, Ian | |
dc.contributor.author | Stoelen, MF | |
dc.date.accessioned | 2022-02-08T13:55:52Z | |
dc.date.available | 2022-02-08T13:55:52Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 9783030891763 | |
dc.identifier.issn | 0302-9743 | |
dc.identifier.issn | 1611-3349 | |
dc.identifier.uri | http://hdl.handle.net/10026.1/18703 | |
dc.description.abstract |
Here we investigate variable-stiffness tendon drive for a robot arm. The novel aspect of our design is that it makes use of non-back-drivable worm-gear motor actuation, so static arm configurations can be maintained at a desired stiffness level without requiring motor power. We first analyze a link that is driven via uni-directional agonistic-antagonistic non-linear elastic tendons and construct the state space model of the system. We then design an observer-based state feedback controller. This ensures the output link can track a reference input vector consisting of a desired joint angle as well as tendon extension realized by tendon co-contraction. We simulated the controller and plant in MATLAB and show examples of typical movement trajectories for angular control of the link. | |
dc.format.extent | 294-303 | |
dc.language.iso | en | |
dc.publisher | Springer International Publishing | |
dc.title | State Space Analysis of Variable-Stiffness Tendon Drive with Non-back-Drivable Worm-Gear Motor Actuation | |
dc.type | conference | |
dc.type | Conference Proceeding | |
plymouth.volume | 13054 LNAI | |
plymouth.publisher-url | https://link.springer.com/chapter/10.1007/978-3-030-89177-0_30 | |
plymouth.conference-name | Annual Conference Towards Autonomous Robotic Systems | |
plymouth.publication-status | Published | |
plymouth.journal | TAROS 2021: Towards Autonomous Robotic Systems | |
dc.identifier.doi | 10.1007/978-3-030-89177-0_30 | |
plymouth.organisational-group | /Plymouth | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering | |
plymouth.organisational-group | /Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA | |
plymouth.organisational-group | /Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics | |
plymouth.organisational-group | /Plymouth/Users by role | |
plymouth.organisational-group | /Plymouth/Users by role/Academics | |
dcterms.dateAccepted | 2021-07-01 | |
dc.rights.embargodate | 2022-10-31 | |
dc.identifier.eissn | 1611-3349 | |
dc.rights.embargoperiod | Not known | |
rioxxterms.versionofrecord | 10.1007/978-3-030-89177-0_30 | |
rioxxterms.licenseref.uri | http://www.rioxx.net/licenses/all-rights-reserved | |
rioxxterms.licenseref.startdate | 2021 | |
rioxxterms.type | Conference Paper/Proceeding/Abstract |