Bioinspired adaptive control for artificial muscles

Emma D. Wilson, Tareq Assaf, Martin J. Pearson, Jonathan M. Rossiter, Sean R. Anderson, John Porrill

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

15 Citations (SciVal)

Abstract

The new field of soft robotics offers the prospect of replacing existing hard actuator technologies by artificial muscles more suited to human-centred robotics. It is natural to apply biomimetic control strategies to the control of these actuators. In this paper a cerebellar-inspired controller is successfully applied to the real-time control of a dielectric electroactive actuator. To analyse the performance of the algorithm in detail we identified a time-varying plant model which accurately described actuator properties over the length of the experiment. Using synthetic data generated by this model we compared the performance of the cerebellar-inspired controller with that of a conventional adaptive control scheme (filtered-x LMS). Both the cerebellar and conventional algorithms were able to control displacement for short periods, however the cerebellar-inspired algorithm significantly outperformed the conventional algorithm over longer duration runs where actuator characteristics changed significantly. This work confirms the promise of biomimetic control strategies for soft-robotics applications.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - Second International Conference, Living Machines 2013, Proceedings
PublisherSpringer Verlag
Pages311-322
Number of pages12
ISBN (Print)9783642398018
DOIs
Publication statusPublished - 31 Dec 2013
Event2nd International Conference on Biomimetic and Biohybrid Systems: Living Machines, LM 2013 - London, UK United Kingdom
Duration: 29 Jul 20132 Aug 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8064 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference2nd International Conference on Biomimetic and Biohybrid Systems: Living Machines, LM 2013
Country/TerritoryUK United Kingdom
CityLondon
Period29/07/132/08/13

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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