Biomorphic Control

This content is from my master’s thesis (Sep 2018) named: Bio-inspired Robotic Torque Controller with Virtual Muscles and Cerebellar-like adaptations.

The thesis contains quite a few silly mistakes, eg. that it doesn’t mention that I graduated as a biomedical engineer, and a few things could be explained better. However, this is how it is and I learned a lot if nothing else 🙂

The following video is an early test of the controller following a sine-wave target trajectory using a pair of virtual agonist-antagonist hill-type muscles and a cerebellum-inspired neuromorphic system that learns how to control them

Leave a Reply

Fill in your details below or click an icon to log in:

WordPress.com Logo

You are commenting using your WordPress.com account. Log Out /  Change )

Google photo

You are commenting using your Google account. Log Out /  Change )

Twitter picture

You are commenting using your Twitter account. Log Out /  Change )

Facebook photo

You are commenting using your Facebook account. Log Out /  Change )

Connecting to %s