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| Record Number | 10306 |
| Reference Type | Journal Article |
| Author(s) | Evangelos A. Theodorou, Emo Todorov, Francisco Valero Cuevas |
| Year | submitted |
| Title | Stochastic Optimal Control on a Biologically Inspired Robotic Finger. (MANUSCRIPT UNDER REVIEW. SUGGESTIONS WELCOME) |
| Keywords | stochastic optimal control, biomechanics |
Abstract |
With the goal to build robotic hands which can reach the levels of dexterity and robustness of the hand, the question of what are the candidate control principles that can
handle the nonlinearities, the high dimensionality and the internal noise of biomechanical structures of the complexity of the hand, is still open. In this work we present the first stochastic optimal feedback controller applied to a full tendon driven simulated robotic index finger. In our model we do take into account the full tendon structure of the index finger which consist of 11 tendons based on the underlying physiology and we
consider muscle with the typical force - length and force velocity properties. Our feedback controller show robustness against noise and perturbation
of the dynamics while it can also successfully handle the nonlinearities and high dimensionality of the robotic index finger. Furthermore as it is shown in the evaluations, it provides the complete time history of the
tendon excursions and the tendon velocities of the index finger for the tasks of tapping with zero and nonzero terminal velocities.
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| Notes | clmc |
| Link to PDF | http://www-clmc.usc.edu/publications//E/StochasticOptimalControlFinger.pdf |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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