TY - GEN
T1 - A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine
AU - Ku, Bonhyun
AU - Banerjee, Arijit
N1 - ACKNOWLEDGMENT This material is based upon work supported by the National Science Foundation under Grant No. 1943791. The authors would also like to thank 3M Foundation and Power Affiliates Program at the University of Illinois Urbana-Champaign for supporting this work.
PY - 2022
Y1 - 2022
N2 - Control of an articulated spine is important for humanoids' dynamic and balanced motion. Although there have been many spinal structures for humanoids, their actuation is still limited due to the usage of geared motors for joints. This paper introduces position control of a distributed electrome-chanical spine in a vertical plane. The spine dynamics model is approximated as an open chain. Gravitational and spring torques are compensated for the control. Moreover, torque-to-current conversion for the actuator is developed. Experimental results show the implemented control of the electromechanical spine for undulatory motions.
AB - Control of an articulated spine is important for humanoids' dynamic and balanced motion. Although there have been many spinal structures for humanoids, their actuation is still limited due to the usage of geared motors for joints. This paper introduces position control of a distributed electrome-chanical spine in a vertical plane. The spine dynamics model is approximated as an open chain. Gravitational and spring torques are compensated for the control. Moreover, torque-to-current conversion for the actuator is developed. Experimental results show the implemented control of the electromechanical spine for undulatory motions.
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U2 - 10.1109/IROS47612.2022.9981571
DO - 10.1109/IROS47612.2022.9981571
M3 - Conference contribution
AN - SCOPUS:85146330670
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5781
EP - 5786
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -