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.
|Number of pages||7|
|Publication status||Published - 2000 Dec 1|
|Event||2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan|
Duration: 2000 Oct 31 → 2000 Nov 5
|Other||2000 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Period||00/10/31 → 00/11/5|