Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

Hiroyuki Kawai, Toshiyuki Murao, Ryuichi Sato, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages1451-1456
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 20th IEEE International Conference on Control Applications, CCA 2011 - Denver, CO
Duration: 2011 Sep 282011 Sep 30

Other

Other2011 20th IEEE International Conference on Control Applications, CCA 2011
CityDenver, CO
Period11/9/2811/9/30

Fingerprint

Passivity-based Control
Robot Manipulator
Manipulator
Muscle
Manipulators
Passivity
Robots
Torque
Stability Analysis
Adjacent
Degree of freedom
Simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Kawai, H., Murao, T., Sato, R., & Fujita, M. (2011). Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. In Proceedings of the IEEE International Conference on Control Applications (pp. 1451-1456). [6044445] https://doi.org/10.1109/CCA.2011.6044445

Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. / Kawai, Hiroyuki; Murao, Toshiyuki; Sato, Ryuichi; Fujita, Masayuki.

Proceedings of the IEEE International Conference on Control Applications. 2011. p. 1451-1456 6044445.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kawai, H, Murao, T, Sato, R & Fujita, M 2011, Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. in Proceedings of the IEEE International Conference on Control Applications., 6044445, pp. 1451-1456, 2011 20th IEEE International Conference on Control Applications, CCA 2011, Denver, CO, 11/9/28. https://doi.org/10.1109/CCA.2011.6044445
Kawai H, Murao T, Sato R, Fujita M. Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. In Proceedings of the IEEE International Conference on Control Applications. 2011. p. 1451-1456. 6044445 https://doi.org/10.1109/CCA.2011.6044445
Kawai, Hiroyuki ; Murao, Toshiyuki ; Sato, Ryuichi ; Fujita, Masayuki. / Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles. Proceedings of the IEEE International Conference on Control Applications. 2011. pp. 1451-1456
@inproceedings{42cded73559f45ae98421d0ea8ae9218,
title = "Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles",
abstract = "This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.",
author = "Hiroyuki Kawai and Toshiyuki Murao and Ryuichi Sato and Masayuki Fujita",
year = "2011",
doi = "10.1109/CCA.2011.6044445",
language = "English",
isbn = "9781457710629",
pages = "1451--1456",
booktitle = "Proceedings of the IEEE International Conference on Control Applications",

}

TY - GEN

T1 - Passivity-based control for 2DOF robot manipulators with antagonistic bi-articular muscles

AU - Kawai, Hiroyuki

AU - Murao, Toshiyuki

AU - Sato, Ryuichi

AU - Fujita, Masayuki

PY - 2011

Y1 - 2011

N2 - This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

AB - This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed by using the important property which is concerned with the passivity, although the passivity of the bi-articular manipulator dynamics can not be shown on account of antagonistic bi-articular muscles explicitly. Finally, simulation results are shown in order to confirm the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=80155146926&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80155146926&partnerID=8YFLogxK

U2 - 10.1109/CCA.2011.6044445

DO - 10.1109/CCA.2011.6044445

M3 - Conference contribution

AN - SCOPUS:80155146926

SN - 9781457710629

SP - 1451

EP - 1456

BT - Proceedings of the IEEE International Conference on Control Applications

ER -