A version of this paper with color figures is available online at http://dx.doi.org/10.1162/ artl_a_00088. Subscription required.Abstract Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, were developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.
Copying human physiology leads us to the first truly anthropomimetic robot -ECCEROBOT, driven by the antagonistically coupled compliant drives. Control design of such a mechanism appears as a really demanding and challenging mission. Puller-follower concept, developed for the robotic joint with antagonistically coupled drives, is expanded to the multi-joint control level. Problems in control of the multi-jointed anthropomimetic robot are highlighted in this paper, and solutions through the robust control and model based compensations are proposed.
Throughout the history of technological progress, attempts have been made to build a machine that looks and behaves like humans. This paper presents a semi-anthropomimetic robot. The robot structure consists of a human-like upper body mounted on a mobile platform (mobile base, cart). The robot uses the three-wheeled mobile platform with two driving wheels and one passive (caster) wheel. The configuration and model of the upper body are represented as an anthropomimetic, compliant robot with antagonistically coupled drives. Robust control is evaluated in order to ensure stability of the robot position. The aim of this work is not the synthesis of control, but rather the examination of the limits of the adopted robot control strategy and the robot behaviour under disturbances (analysis of tip-over stability). The paper analyses both disturbances from the cart motion and external disturbances due to interaction with the environment (external impulse and long term external force). In order to analyse the balance of the robot and to avoid tipping over, different situations are tested and the appropriate dimensions of the cart are estimated (relying on the ZMP calculation).
Copying human physiology leads us to the first truly anthropomimetic robot -ECCEROBOT, driven by the antagonistically coupled compliant drives. Control design of such a mechanism appears as a really demanding and challenging mission. Puller-follower concept, developed for the robotic joint with antagonistically coupled drives, is expanded to the multi-joint control level. Problems in control of the multi-jointed anthropomimetic robot are highlighted in this paper, and solutions through the robust control and model based compensations are proposed.
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