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Biologically inspired control and modeling of (bio)robotic systems and some applications of fractional calculus in mechanics
Theoretical and applied mechanics, Tome 40 (2013) no. 1, p. 163 Cet article a éte moissonné depuis la source eLibrary of Mathematical Institute of the Serbian Academy of Sciences and Arts

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In this paper, the applications of biologically inspired modeling and control of (bio)mechanical (non)redundant mechanisms are presented, as well as newly obtained results of author in mechanics which are based on using fractional calculus. First, it is proposed to use biological analog–synergy due to existence of invariant features in the execution of functional motion. Second, the model of (bio)mechanical system may be obtained using another biological concept called distributed positioning (DP), which is based on the inertial properties and actuation of joints of considered mechanical system. In addition, it is proposed to use other biological principles such as: principle of minimum interaction, which takes a main role in hierarchical structure of control and self-adjusting principle (introduce local positive/negative feedback on control with great amplifying), which allows efficiently realization of control based on iterative natural learning. Also, new, recently obtained results of the author in the fields of stability, electroviscoelasticity, and control theory are presented which are based on using fractional calculus (FC).
DOI : 10.2298/TAM1301163L
Classification : 93A10 92B15
Keywords: biologically inspired systems, control algorithms, modeling, fractional calculus, stability 
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     title = {Biologically inspired control and modeling of (bio)robotic systems and some applications of fractional calculus in mechanics},
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     doi = {10.2298/TAM1301163L},
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     url = {http://geodesic.mathdoc.fr/articles/10.2298/TAM1301163L/}
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Mihailo P. Lazarević. Biologically inspired control and modeling of (bio)robotic systems and some applications of fractional calculus in mechanics. Theoretical and applied mechanics, Tome 40 (2013) no. 1, p. 163 . doi: 10.2298/TAM1301163L

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