A neuromuscular-like model for robotic compliance control

Chi Haur Wu*, Kuu-Young Young, James C. Houk

*Corresponding author for this work

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

4 Scopus citations

Abstract

The muscle-reflex mechanisms of primate limbs are studied and modeled so that robotic controls may benefit from the findings. An extensive body of experimental evidence indicates that velocity-dependent force responses of the neuromuscular system have a nonlinear damping effect proportional to a fractional power of velocity. This highly nonlinear viscosity may help limbs adapt to different loads and bring movements to graceful terminations. To explore the characteristics of this nonlinear damping property, a theoretical study using the phase-plane approach is presented. The effects of different loads, damping constants, and stiffnesses are analyzed and simulated. From the results of this phase-plane analysis, a muscle-reflex model is developed and proposed for robotic compliance control.

Original languageEnglish
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages1885-1890
Number of pages6
ISBN (Print)0818620617
DOIs
StatePublished - 1 Dec 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: 13 May 199018 May 1990

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Conference

ConferenceProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period13/05/9018/05/90

Fingerprint Dive into the research topics of 'A neuromuscular-like model for robotic compliance control'. Together they form a unique fingerprint.

  • Cite this

    Wu, C. H., Young, K-Y., & Houk, J. C. (1990). A neuromuscular-like model for robotic compliance control. In Proc 1990 IEEE Int Conf Rob Autom (pp. 1885-1890). (Proc 1990 IEEE Int Conf Rob Autom). Publ by IEEE. https://doi.org/10.1109/ROBOT.1990.126283