@inproceedings{ad64fb054179454e8e6af80875758f0a,
title = "Bioinspired adaptive control for artificial muscles",
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.",
author = "Wilson, \{Emma D.\} and Tareq Assaf and Pearson, \{Martin J.\} and Rossiter, \{Jonathan M.\} and Anderson, \{Sean R.\} and John Porrill",
year = "2013",
month = dec,
day = "31",
doi = "10.1007/978-3-642-39802-5\_27",
language = "English",
isbn = "9783642398018",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "311--322",
booktitle = "Biomimetic and Biohybrid Systems - Second International Conference, Living Machines 2013, Proceedings",
note = "2nd International Conference on Biomimetic and Biohybrid Systems: Living Machines, LM 2013 ; Conference date: 29-07-2013 Through 02-08-2013",
}