Bionic Manipulator

International Journal of Computer & Organization Trends (IJCOT)          
© 2012 by IJCOT Journal
Volume-2 Issue-6                          
Year of Publication : 2012
Authors :- Akash K Singh,


- Akash K Singh,  "Bionic Manipulator" International Journal of Computer & organization Trends (IJCOT), V2(6):110-137 Nov - Dec 2012, ISSN 2249-2593, Published by Seventh Sense Research Group.

Abstract—Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluation in numerical simulations and experiments with regards to the long-term goal of a nature-like control performance.


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Keywords— bionic, wire driven, serial elastic actuator, ballistic movements, joint control, trajectory optimization.