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Bioinspired adaptive control for artificial muscles

Research output: Contribution to conference - Without ISBN/ISSN › Conference paper › peer-review

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Bioinspired adaptive control for artificial muscles. / Wilson, Emma Denise; Assaf, Tareq; Pearson, Martin J et al.
2013. 311-322 Paper presented at Conference on Biomimetic and Biohybrid Systems.

Research output: Contribution to conference - Without ISBN/ISSN › Conference paper › peer-review

Harvard

Wilson, ED, Assaf, T, Pearson, MJ, Rossiter, JM, Anderson, SR & Porrill , J 2013, 'Bioinspired adaptive control for artificial muscles', Paper presented at Conference on Biomimetic and Biohybrid Systems, 29/07/13 pp. 311-322. https://doi.org/10.1007/978-3-642-39802-5_27

APA

Wilson, E. D., Assaf, T., Pearson, M. J., Rossiter, J. M., Anderson, S. R., & Porrill , J. (2013). Bioinspired adaptive control for artificial muscles. 311-322. Paper presented at Conference on Biomimetic and Biohybrid Systems. https://doi.org/10.1007/978-3-642-39802-5_27

Vancouver

Wilson ED, Assaf T, Pearson MJ, Rossiter JM, Anderson SR, Porrill J. Bioinspired adaptive control for artificial muscles. 2013. Paper presented at Conference on Biomimetic and Biohybrid Systems. doi: 10.1007/978-3-642-39802-5_27

Author

Wilson, Emma Denise ; Assaf, Tareq ; Pearson, Martin J et al. / Bioinspired adaptive control for artificial muscles. Paper presented at Conference on Biomimetic and Biohybrid Systems.12 p.

Bibtex

@conference{c22b92c749d448efa967df01eef458b6,
title = "Bioinspired adaptive control for artificial muscles",
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.",
keywords = "Adaptive Control, Smart Materials, Dielectric elastomer, electroactive polymer, adaptive control scheme",
author = "Wilson, {Emma Denise} and Tareq Assaf and Pearson, {Martin J} and Rossiter, {Jonathan M} and Anderson, {Sean R} and John Porrill",
year = "2013",
doi = "10.1007/978-3-642-39802-5_27",
language = "English",
pages = "311--322",
note = "Conference on Biomimetic and Biohybrid Systems ; Conference date: 29-07-2013",

}

RIS

TY - CONF

T1 - Bioinspired adaptive control for artificial muscles

AU - Wilson, Emma Denise

AU - Assaf, Tareq

AU - Pearson, Martin J

AU - Rossiter, Jonathan M

AU - Anderson, Sean R

AU - Porrill , John

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Adaptive Control

KW - Smart Materials

KW - Dielectric elastomer

KW - electroactive polymer

KW - adaptive control scheme

U2 - 10.1007/978-3-642-39802-5_27

DO - 10.1007/978-3-642-39802-5_27

M3 - Conference paper

SP - 311

EP - 322

T2 - Conference on Biomimetic and Biohybrid Systems

Y2 - 29 July 2013

ER -