Robot arm control exploiting natural dynamics

This thesis presents an approach to robot arm control exploiting natural dynamics. The approachconsists of using a compliant arm whose joints are controlled with simple non-linear oscillators.The arm has special actuators which makes it robust to collisions and gives it a smooth compliantmotion. The oscillators produce rhythmic commands of the joints of the arm, and feedback of thejoint motions is used to modify the oscillator behavior. The oscillators enable the resonant propertiesof the...