Anthrob - A printed anthropomimetic robot

Abstract

Abstract-Anthropomimetic robotics differ from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones and joints [1]. Prominent examples for this class of robots are the robots developed at the JSK laboratory of the University of Tokyo and the robots developed by the EU-funded project Embodied Cognition in a Compliantly Engineered Robot (Eccerobot). However, the high complexity of these robots as well as their lack of sensors has so far failed to provide the desired new insights in the field of control.Therefore, we developed the simplified but sensorized robot Anthrob. The robot replicates the human upper limb and features 13 compliant tendon driven uni-and biarticular muscles as well as a spherical shoulder joint. Whenever possible, Selective Laser Sintering (SLS) was used for the production of the robot parts to reduce the production costs and to implement cutting-edge technologies, such as tendon canals or solid-state joints.

Adaptive neural network Dynamic Surface Control: An evaluation on the musculoskeletal robot Anthrob

“…From an integration point of view, however, it might be preferable to implement an actuator unit which is fully sensorized, including the force sensor. In the Anthrob, force sensors are always located on the driving end [2]. In this case, (1) may be rewritten to include the muscle friction f F (f,q, α), by introducing (4):…”

“…This greatly improves scalability, as muscle controllers can be executed with only a minimum of communication between a central controller and the distributed nodes. Distributed control was facilitated by Anthrob through a control architecture which implemented distributed control units for low-level muscle control and communication via CAN bus to a central PC [2]. To remain comparable throughout the experiments, high-level control was executed at a frequency of 200 Hz and low-level control at 1 kHz.…”

“…The robot arm Anthrob [2] has been developed to investigate provably stable control strategies for the class of musculoskeletal robots. It presents a replica of the human upper limb (see Fig.…”

“…1: Photograph of the robot Anthrob. [2] between muscles and the skeleton and is therefore difficult to model.…”

An Overview of Humanoid Robots Technologies

“…Several humanoid robots have been designed with tendons which can be considered as SEA (robots Ecce [42], Kotaro [45]), with an antagonist [23], or a serial variable impedance actuator (robot Kenshiro [45]). …”