Development of a System Incorporating a Multifunctional Actuator Using an Intelligent Multifunction Control Method
Kazuki Kuribayashi and Seiji Yasunobu
Division of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan
Next-generation robots, such as humanoid robots, require a multifunction control system. In the present study, a multifunctional actuator is considered in order to construct a multifunction control system more simply. The multifunctional actuator can easily set the parameters of target angle and stiffness, but determining the appropriate parameters is difficult. Therefore, in order to address this difficulty, we construct an intelligent controller based on iMIMOc. This iMIMOc is applied to a robot that incorporates multifunctional actuators, and an iMIMOc system is developed. The effectiveness of the developed system is verified through simulation and real-machine experiments.
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