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Bioinspired adaptive control for artificial muscles

Research output: Contribution to conference - Without ISBN/ISSN Conference paperpeer-review

Published
  • Emma Denise Wilson
  • Tareq Assaf
  • Martin J Pearson
  • Jonathan M Rossiter
  • Sean R Anderson
  • John Porrill
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Publication date2013
Number of pages12
Pages311-322
<mark>Original language</mark>English
EventConference on Biomimetic and Biohybrid Systems -
Duration: 29/07/2013 → …

Conference

ConferenceConference on Biomimetic and Biohybrid Systems
Period29/07/13 → …

Abstract

The new field of soft robotics offers the prospect of replacing existing hard actuator technologies by artificial muscles more suited to human-centred robotics. It is natural to apply biomimetic control strategies to the control of these actuators. In this paper a cerebellar-inspired controller is successfully applied to the real-time control of a dielectric electroactive actuator. To analyse the performance of the algorithm in detail we identified a time-varying plant model which accurately described actuator properties over the length of the experiment. Using synthetic data generated by this model we compared the performance of the cerebellar-inspired controller with that of a conventional adaptive control scheme (filtered-x LMS). Both the cerebellar and conventional algorithms were able to control displacement for short periods, however the cerebellar-inspired algorithm significantly outperformed the conventional algorithm over longer duration runs where actuator characteristics changed significantly. This work confirms the promise of biomimetic control strategies for soft-robotics applications.