Bio-inspired Actuation and Sensing

Hannaford, B. and Klute, G.K. and Jaax, K.N. (2001) Bio-inspired Actuation and Sensing. In: Autonomous Robots (Special Issue, Papers from the JPL workshop on Biomorphic Robotics, August 2000).

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Abstract

The superb ability of animals to negotiate rough terrain has caused engineers to focus on mechanical properties of muscle and other unique features in order to design improved robots for exploration. This paper reviews recent work in artificial muscle actuators, as well as a new sensor based on a robotic model of the muscle spindle cell. The actuator contains a pneumatic force generator in parallel with a non-linear damping element and in series with a non-linear elastic "tendon". Work loop experiments were performed to characterize this actuator under conditions similar to real locomotion at different speeds. The robotic muscle spindle is an 8x1 cm device which simulates the response of the physiological muscle spindle to stretch. Its non-linear properties are thought to contribute to stable accurate control over a wide range of motion.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published as Autonomous Robots (Special Issue, Papers from the JPL workshop on Biomorphic Robotics, August 2000), volume 11, number 3
Subjects: Z Other
Divisions: Department of Electrical Engineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:58
Last Modified: 04 Nov 2015 23:42
URI: http://brl.ee.washington.edu/eprints/id/eprint/226

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