Movement control in anthropomorphic robot using a human inspired eigen movement concept

Biologically inspired principle of the movement control based on the independent control of movements along the eigenvectors of the dynamic equation (eigenmovements) during vertical standing in human is applied to the movement control of the vertically standing anthropomorphic robot with pneumatic actuators acting around “hip” and “ankle” joints. The proposed control is performed by two independent proportional and derivative controllers for two eigenmovements using feedback loops with time delays. Experiments with robot movements in which the theoretically obtained feedback loop parameters for the stable proportional and derivative control are presented. The study demonstrates that stable control in the anthropomorphic robot can be realized on the basis of the eigenmovement concept despite of the delays of the order of hundreds milliseconds in the feedback loop and the presence of such unaccounted factors as nonlinearities of different kinds, noise, friction, inaccuracy of sensors, backlashes, etc. The different experimentally obtained transient characteristics of the robot movement control are compared with the theoretically expected ones.