Development of self-stabilizing variable stiffness actuation system with variable radius gear and high torque motor = 가변 반경 기어와 고출력 토크 모터에 의한 자기안정화 가변 강성 구동 시스템의 개발

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In robotics, high mechanical impedance, resolution of sensors, and computing bandwidth have been desirable aspects for feedback control to obtain stability and better performance. In contrast, the human body is physically inferior to man-made systems in terms of feedback control due to low mechanical impedance, resolution of sensors and long signal transmission delay. Nevertheless, humans can achieve not only stable motion generation but also robust and adaptive control ability with respect to uncertain environment. For these reasons, in neurophysiology, many studies have emphasized the significance of the feedforward control ability of human. Virtual trajectory control hypothesis and internal model hypothesis have been referred to explain stable and robust motion generating ability of human under feedforward control. Inspired by the achievement of the previous studies, a hypothesis that joint stiffness can be utilized to compensate inverse dynamics model uncertainty is proposed. To verify this hypothesis, a robot which can control joint stiffness is developed. From the experimental results, the developed robot shows stable and accurate motion tracking performance without any sensors and precise inverse dynamics model. These results indicate that the concept of the developed variable stiffness actuator can be applied to the robotics field for feedforward application, and support the hypothesis that human utilize joint stiffness to adapt to uncertain environment.
Advisors
Kim, Jungresearcher김정researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2019
Identifier
325007
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학과, 2019.2,[v, 88 p. :]

Keywords

variable stiffness actuator▼afeedforward control▼amusculoskeletal system▼ainverse dynamics▼aLyapunov stability criteria▼aself-stabilization; 가변강성 구동기▼a피드포워드 제어▼a근골격계▼a역동역학▼aLyapunov안정론▼a자기안정화

URI
http://hdl.handle.net/10203/264498
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=841768&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
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