Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors

• Main Authors: Shukor, Ahmad Zaki, Fujimoto, Yasutaka
• Format: Article
• Language: English
• Published: InTech 2012
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/8901/1/InTech-Planar_task_space_control_of_a_biarticular_manipulator_driven_by_spiral_motors.pdf; http://eprints.utem.edu.my/id/eprint/8901/; http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems

This paper elaborates upon a musculoskeletal‐ inspired robot manipulator using a prototype of the spiral motor developed in our laboratory. The spiral motors represent the antagonistic muscles due to the high forward/backward drivability without any gears or mechanisms. M...