The Puller-Follower Control Concept in the Multi-Jointed Robot Body with Antagonistically Coupled Compliant Drives

摘要

Copying human physiology leads us to the first truly anthropomimetic robot ECCEROBOT, driven by the antagonistically coupled compliant drives. Control design of such a mechanism appears as a really demanding and challenging mission. Puller-follower concept, developed for the robotic joint with antagonistically coupled drives, is expanded to the multi-joint control level. Problems in control of the multi-jointed anthropomimetic robot are highlighted in this paper, and solutions through the robust control and model based compensations are proposed.