Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision

摘要

Bio-inspired and compliant control approaches have been studied by roboticists for decades to achieve more natural robot motion. Independent of this, medical and biological researchers have discovered a wide variety of muscular properties and higher-level motion characteristics. Although both disciplines strive to better understand natural motion and muscle coordination, they have yet to meet. This work introduces a novel robotic control strategy that bridges the gap between these distinct areas. By applying biological characteristics to electrical series elastic actuators, we developed a simple yet efficient distributed damping control strategy. The presented control covers the entire robotic drive train, from abstract whole-body commands to the applied current. The functionality of this control is biologically motivated, theoretically discussed, and finally evaluated through experiments on the bipedal robot Carl. Together, these results demonstrate that the proposed strategy fulfills all requirements that are necessary to continue developing more complex robotic tasks based on this novel muscular control philosophy.