A Control Architecture of a Distributed Actuator System for a Bio-Inspired Spine
Bonhyun Ku,Arijit Banerjee,Bonhyun Ku,Arijit Banerjee
Control of an articulated spine is important for humanoids' dynamic and balanced motion. Although there have been many spinal structures for humanoids, their actuation is still limited due to the usage of geared motors for joints. This paper introduces position control of a distributed electrome-chanical spine in a vertical plane. The spine dynamics model is approximated as an open chain. Gravitat...
