Control analysis of an underactuated bio-inspired robot
Nicolas J.S. Testard,
Christine Chevallereau,
Philippe Wenger
Abstract:This article is devoted to the control of bio-inspired robots that are underactuated. These robots are composed of tensegrity joints remotely actuated with cables, which mimic the musculoskeletal system of the bird neck. A computed torque control (CTC) is applied to these robots as well as an original control called pseudo computed torque control (PCTC). This new control uses the dynamics and the pseudo-inverse of the Jacobian matrix. The stability of the two proposed controls is then analyzed through lineariz… Show more
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