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Design, modeling and control of inherently compliant actuators with a special consideration on agonist-anthropomorphic configuration

Ganesh Kumar Hari Shankar Lal Das 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Design, modeling and control of inherently compliant actuators with a special consideration on agonist- antagonist anthropomorphic configuration" The research aims at the design, modeling and control of inherently compliant actuators for anthropomorphic systems. The first part of the work focuses on the study of various existing designs and look for the possibility of alternative actuators other than the conventional electric motors. Special attention is given to elctroactive polymer based soft actuators which have good potential in future robotic applications. In parallel, a model of the actuator dynamics and the model-based controller (MPC and optimal control) have been synthesized for an anthropomorphic 7 Dofs arm actuated by antagonist-agonist pair of Pneumatic Artificial Muscles (PAMs) at each joint. Such model and controller is then integrated within the software environment developed by the team. Using the PAMs based anthropomorphic manipulator arm and the numerical simulator, tests are done in order to evaluate the potential of this actuator and compare with the human body capabilities.
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Ganesh Kumar Hari Shankar Lal Das. Design, modeling and control of inherently compliant actuators with a special consideration on agonist-anthropomorphic configuration. Automatic. INSA de Toulouse, 2016. English. ⟨NNT : 2016ISAT0030⟩. ⟨tel-01547435⟩

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