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| Autors | Name Surname, Name Surname, Name Surname & Name Surname |
|---|---|
| Betreuer | Marc Jacob |
| Bearbeitungsdauer | ca. 25 Stunden |
| Präsentationstermin | dd.mm.yyyy |
Basic EP-concept (EP = Equilibrium point)
- The EP-Control System states, that a set of two actuators can act like a human muscles Agonist/Antagonist principle.
- The applied force depends on muscle length and stimulation: The longer the artificial muscle, the more effective the stimulation in translated into force
- The system is heading towards a certain joint angle depending on the realation of force and length of both actuators
- Once the angle is reached, the joint stiffness can be modified by equally increasing or decreasing the applied forces in the actuators.
- In our experiment, the used software defines sitffness and angle of the models joints which are automatically are translated in poses. Each of these poses define an Equilibrium Point
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At the end, three conclusions were reached:
1. The system is able to head towards a target position without the need for an inverted model
2. Using rough and simple movement patterns looks more natural and is more stable
3. A comparison between both approaches rises the question whether biological movement is also just a product of simple, prototypical poses instead of detailed motions