Online citations, reference lists, and bibliographies.
Please confirm you are human
(Sign Up for free to never see this)
← Back to Search

Cerebellar-inspired Algorithm For Adaptive Control Of Nonlinear Dielectric Elastomer-based Artificial Muscle

Emma D. Wilson, T. Assaf, M. Pearson, J. Rossiter, S. Anderson, J. Porrill, P. Dean
Published 2016 · Computer Science, Medicine

Save to my Library
Download PDF
Analyze on Scholarcy
Electroactive polymer actuators are important for soft robotics, but can be difficult to control because of compliance, creep and nonlinearities. Because biological control mechanisms have evolved to deal with such problems, we investigated whether a control scheme based on the cerebellum would be useful for controlling a nonlinear dielectric elastomer actuator, a class of artificial muscle. The cerebellum was represented by the adaptive filter model, and acted in parallel with a brainstem, an approximate inverse plant model. The recurrent connections between the two allowed for direct use of sensory error to adjust motor commands. Accurate tracking of a displacement command in the actuator's nonlinear range was achieved by either semi-linear basis functions in the cerebellar model or semi-linear functions in the brainstem corresponding to recruitment in biological muscle. In addition, allowing transfer of training between cerebellum and brainstem as has been observed in the vestibulo-ocular reflex prevented the steady increase in cerebellar output otherwise required to deal with creep. The extensibility and relative simplicity of the cerebellar-based adaptive-inverse control scheme suggests that it is a plausible candidate for controlling this type of actuator. Moreover, its performance highlights important features of biological control, particularly nonlinear basis functions, recruitment and transfer of training.
This paper references
System Identification: Theory for the User
L. Ljung (1987)
are they ready for bioinspired applications? Bioinsp
F Carpi
The cerebellar microcircuit as an adaptive filter: experimental and computational evidence
P. Dean (2010)
Biohybrid Control of General Linear Systems Using the Adaptive Filter Model of Cerebellum
E. D. Wilson (2015)
Modeling of a pre-strained circular actuator made of dielectric elastomers
Michael Wissler (2005)
Nonlinear Dynamic Modeling of Isometric Force Production in Primate Eye Muscle
S. Anderson (2010)
Compliant actuator designs
R. Ham (2009)
Benchmarking cerebellar control
P. V. D. Smagt (2000)
Cerebellar inspired adaptive control of a compliant robot actuated by pneumatic artificial
J. Porrill (2009)
Discharge patterns and recruitment order of identified motoneurons and internuclear neurons in the monkey abducens nucleus.
A. Fuchs (1988)
At the Edge of Chaos: How Cerebellar Granular Layer Network Dynamics Can Provide the Basis for Temporal Filters
C. Rössert (2015)
Design, fabrication and control of soft robots
D. Rus (2015)
Modeling and open-loop control of IPMC actuators under changing ambient temperature
Roy Dong (2012)
Adaptive Filter Theory
S. Haykin (1986)
Fast convergence of learning requires plasticity between inferior olive and deep cerebellar nuclei in a manipulation task: a closed-loop robotic simulation
N. Luque (2014)
Decorrelation control by the cerebellum achieves oculomotor plant compensation in simulated vestibulo-ocular reflex
P. Dean (2002)
The cerebellum as a liquid state machine
T. Yamazaki (2007)
Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications?
F. Carpi (2011)
The cerebellum and neural control
伊藤 正男 (1984)
Adaptive filter theory, 4th edn
S. Haykin (2002)
Movements of the eyes
D. Whitteridge (1979)
J. Neurophysiol
Multi-functional dielectric elastomer artificial muscles for soft and smart machines
I. Anderson (2012)
Adaptive Cancelation of Self-Generated Sensory Signals in a Whisking Robot
S. Anderson (2010)
A review on dielectric elastomer actuators, technology, applications, and challenges
A. O’Halloran (2008)
2012 Physical model-based active vibration control using a dielectric elastomer actuator
R Sarban
Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System
Gianluca Rizzello (2015)
Inversion-Based Feedforward Control of Polypyrrole Trilayer Bender Actuators
S.W. John (2010)
Adaptive filter model of the cerebellum
M. Fujita (2004)
Control-focused, nonlinear and time-varying modelling of dielectric elastomer actuators with frequency response analysis
W. R. Jacobs (2015)
Organization of voluntary movement
C. Ghez (1991)
Robots in invertebrate neuroscience
B. Webb (2002)
Inversion-based control of ionic polymer?metal composite actuators with nanoporous carbon-based electrodes
Veiko Vunder (2014)
Cerebellar-Inspired Adaptive Control of a Robot Eye Actuated by Pneumatic Artificial Muscles
A. Lenz (2009)
Optimality of static force control by horizontal eye muscles : a test of the minimum norm rule
P Dean (1999)
Bioinspired actuation of the eyeballs of an android robotic face: concept and preliminary investigations.
F. Carpi (2007)
Modeling and adaptive inverse control of hysteresis and creep in ionic polymer–metal composite actuators
Lina Hao (2010)
2015 Modeling, identification, and control of a dielectric electro-active polymer positioning system (doi:10. 1109/tcst.2014.2338356) 41 Robotics and neuroscience
G Rizzello (2000)
Distributed cerebellar plasticity implements generalized multiple-scale memory components in real-robot sensorimotor tasks
C. Casellato (2015)
Processing of Multi-dimensional Sensorimotor Information in the Spinal and Cerebellar Neuronal Circuitry: A New Hypothesis
Anton Spanne (2013)
Cerebellar Motor Learning: When Is Cortical Plasticity Not Enough?
J. Porrill (2007)
Adaptive filters and internal models: Multilevel description of cerebellar function
J. Porrill (2013)
[On the "artificial muscle"].
R. V. Beliakov (1962)
Modeling of a prestrained circular actuator made of dielectric elastomers. Sensors Actuat. A Phys
M Wissler (2005)
Adaptive Signal Processing
S. Alexander (1986)
Cerebellar inspired adaptive control of a compliant robot actuated by pneumatic artificial muscles
A Lenz (2009)
Adaptive filter model of the Struct
M. Fujita (1982)
Modeling and open-loop
R Dong (2012)
Bioinspired actuation
F Carpi (2007)
Physical model-based active vibration control using a dielectric elastomer actuator
R. Sarban (2012)
Compliant actuator designs review of actuators with passive adjustable compliance / controllable stiffness for robotic applications
R VanHam (2009)
System identification: theory for the 1420 – 1433
L. Ljung (1999)
Role of abducens neurons in vestibuloocular reflex.
A. A. Skavenski (1973)
Parallel Fiber Coding in the Cerebellum for Life-Long Learning
O. Coenen (2001)
Feedback-Linearization-Based Neural Adaptive Control for Unknown Nonaffine Nonlinear Discrete-Time Systems
H. Deng (2008)
Motor unit recruitment in a distributed model of extraocular muscle.
P. Dean (1996)
Functional Organization of Motoneuron Pool and its Inputs
Elwood Henneman (2011)
2010 of electroactive polymer actuators based on fuzzy
P Dean (2010)
Processing of multineurons in vestibuloocular reflex
A Spanne (2013)
Robotics and Neuroscience
D. Floreano (2014)
Artificial muscle for reanimation of the paralyzed face: durability and biocompatibility in a gerbil model.
L. Ledgerwood (2012)
Soft robotics: a bioinspired evolution in robotics.
Sangbae Kim (2013)
Adaptive inverse control, reissue edition: a signal processing approach
B Widrow (2008)
Benchmarking cerebellar
P. van der Smagt (2000)
Force requirements for artificial muscle to create an eyelid blink with eyelid sling.
C. Senders (2010)
Nonlinear force control of dielectric electroactive polymer actuators
M. Y. Ozsecen (2010)
Recurrent cerebellar
J Porrill (2004)
Intelligent Control of Electroactive Polymer Actuators Based on Fuzzy and Neurofuzzy Methodologies
C. M. Druitt (2014)
Recurrent Cerebellar Loops Simplify Adaptive Control of Redundant and Nonlinear Motor Systems
J. Porrill (2007)
Optimality of position commands to horizontal eye muscles: A test of the minimum-norm rule.
P. Dean (1999)
Role of abducens
AA Skavenski (1973)
Adaptive cancelation of self
P Dean (2010)
Synaptic Plasticity in Medial Vestibular Nucleus Neurons: Comparison with Computational Requirements of VOR Adaptation
J. Menzies (2010)
Recurrent cerebellar architecture solves the motor-error problem
J. Porrill (2004)
Adaptive inverse control
B. Widrow (1993)
Modeling and adaptive
LN Hao (2010)
Force requirements for artificial
H. Prahlad (2010)
Cerebellum-dependent learning: the role of multiple plasticity mechanisms.
E. Boyden (2004)
Feedback-linearizationbased neural adaptive control for unknown nonaffine nonlinear discrete-time systems
H Deng (2008)

This paper is referenced by
Motion Control of a Soft Circular Crawling Robot via Iterative Learning Control*
H. Chi (2019)
Cerebellum-inspired approach for adaptive kinematic control of soft robots
Hari Teja Kalidindi (2019)
Iterative Learning Control for Motion Trajectory Tracking of a Circular Soft Crawling Robot
H. Chi (2019)
Integrating Brain and Biomechanical Models—A New Paradigm for Understanding Neuro-muscular Control
S. James (2018)
Sensorimotor maps can be dynamically calibrated using an adaptive-filter model of the cerebellum
E. D. Wilson (2019)
Design and Motion Control of Antagonistic Soft Actuators
Wenyu Liang (2019)
Position Control of Dielectric Elastomer Actuators Based on Port-Hamiltonian Framework
Giuseppe Panaro (2018)
Cerebellar-inspired learning rule for gain adaptation of feedback controllers
Ivan Herreros-Alonso (2017)
Sensorless force control for dielectric elastomer transducers
Thorben Hoffstadt (2019)
Control of a muscle-like soft actuator via a bioinspired approach.
J. Cao (2018)
Towards Sensorless Soft Robotics: Self-Sensing Stiffness Control of Dielectric Elastomer Actuators
Gianluca Rizzello (2020)
Position and Force Control of a Twisted and Coiled Polymeric Actuator
Chunbing Wu (2020)
Dynamic analysis and active control of a dielectric elastomer balloon covered by a protective passive layer
Z. Deng (2019)
Self-Sensing Control for Soft-Material Actuators Based on Dielectric Elastomers
Thorben Hoffstadt (2019)
Soft robots based on dielectric elastomer actuators: a review
Ujjaval Gupta (2019)
Modelling and Control of a Novel Soft Crawling Robot Based on a Dielectric Elastomer Actuator
J. Cao (2018)
First Principles Approach to Study the Structural, Electronic and Transport Properties of Dimer Chitosan with Graphene Electrodes
Upma (2019)
Semantic Scholar Logo Some data provided by SemanticScholar