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Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks

[+] Author Affiliations
Veljko Potkonjak, Kosta Jovanovic, Dusan Mikicic

University of Belgrade, Belgrade, Serbia

Bratislav Svetozarevic

Swiss Federal Institute of Technology, Zurich, Switzerland

Owen Holland

University of Sussex, Brighton, Falmer, UK

Paper No. DETC2011-47256, pp. 23-32; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


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.

Copyright © 2011 by ASME



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