Biomimetic trajectory planning via redundant actuation

J. H. Lee, B. J. Yi, Il Hong Suh

Research output: Contribution to conferencePaper

2 Scopus citations

Abstract

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of the system's impedances. Inspired by bio-systems, a biomimetic trajectory planning method is introduced. This scheme is based on employment of redundant actuation which prevails in bio-systems. We explain that in the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role to completely modulate the dynamic behaviour of a system, such as natural frequencies and damping ratios. A five-bar mechanisms equipped with two redundant actuators will be employed to demonstrate the feasibility of the proposed biomimetic trajectory experimentally.

Original languageEnglish
Pages1778-1784
Number of pages7
Publication statusPublished - 2000 Dec 1
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period00/10/3100/11/5

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Lee, J. H., Yi, B. J., & Suh, I. H. (2000). Biomimetic trajectory planning via redundant actuation. 1778-1784. Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.