Abstract
We present the design of a one-degree-of-freedom ankle actuation platform for human-robot interaction. The platform is actuated with a DC motor through a capstan drive mechanism. The results for platform dynamics identification including friction characterisation are presented. Control experiments demonstrate that a linear regulator with gravity compensation can be used to control the inclination of the platform efficiently.
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Acknowledgements
This work was funded by the UK EPSRC grant EP/R02572X/1 (NCNR). Ata Otaran was funded by Queen May University of London Ph.D. scholarship.
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Otaran, A., Farkhatdinov, I. (2019). Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_28
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DOI: https://doi.org/10.1007/978-3-030-23807-0_28
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