Title:
Control of robotic joints using principles from the equilibrium point hypothesis of animal motor control

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dc.contributor.advisor DeWeerth, Stephen P.
dc.contributor.author Migliore, Shane Anthony en_US
dc.contributor.committeeMember Lena Ting
dc.contributor.committeeMember Butera, Robert
dc.contributor.department Electrical and Computer Engineering en_US
dc.date.accessioned 2005-03-02T22:16:57Z
dc.date.available 2005-03-02T22:16:57Z
dc.date.issued 2004-06-28 en_US
dc.description.abstract Biological systems are able to perform complex movements with high energy-efficiency and, in general, can adapt to environmental changes more elegantly than traditionally engineered mechanical systems. The Equilibrium Point Hypothesis describes animal motor control as trajectories of equilibrium joint angle and joint stiffness. Traditional approaches to robot design are unable to implement this control scheme because they lack joint actuation methods that can control mechanical stiffness, and, in general, they are unable to take advantage of energy introduced into the system by the environment. In this paper, we describe the development and implementation of an FPGA-controlled, servo-actuated robotic joint that incorporates series-elastic actuation with specially developed nonlinear springs. We show that the joint's equilibrium angle and stiffness are independently controllable and that their independence is not lost in the presence of external joint torques. This approach to joint control emulates the behavior of antagonistic muscles, and thus produces a mechanical system that demonstrates biological similarity both in its observable output and in its method of control. en_US
dc.description.degree M.S. en_US
dc.format.extent 1731743 bytes
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/5009
dc.language.iso en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Robotic joint actuation en_US
dc.subject Control strategies
dc.subject Stiffness control
dc.subject EPH
dc.subject FPGA
dc.subject.lcsh Robotics in medicine en_US
dc.subject.lcsh Motor ability en_US
dc.subject.lcsh Field programmable gate arrays en_US
dc.subject.lcsh Artificial joints en_US
dc.title Control of robotic joints using principles from the equilibrium point hypothesis of animal motor control en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor DeWeerth, Stephen P.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication 6b8c24a1-7328-4161-8715-b26e0231ae78
relation.isOrgUnitOfPublication 5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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