Biologically-Inspired Control of a Compliant Anthropomimetic Robot

Potkonjak,; Svetozarevic, Bratislav; Jovanović, Kosta; Holland, Owen

doi:10.2316/p.2010.706-006

Cited by 12 publications

(13 citation statements)

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“…In [4,7] a model of a tendon-driven robot is obtained for the full state-space. This leads to a very complex and also nonlinear model for which a controller can be found, provided the system is small enough.…”

Section: Modeling Musculoskeletal Robotsmentioning

confidence: 99%

“…Three main configurations exist, N, N+1, and 2N [4], while models of human bodies as well as anthropomimetic robots have to be classified as 2N+, denoting many more muscles per DoF in the joints than 2N. Control approaches from the robotics community like [4][5][6][7] deal only with the 2N configuration. For robots of the 2N+ configuration with complex joint types and colliding muscles, on the other hand, a control problem has to be 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012.…”

Section: Introductionmentioning

confidence: 99%

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Computed muscle control for an anthropomimetic elbow joint

Jantsch

Wittmeier

Dalamagkidis

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The soft robotics approach is widely considered to enable human-friendly robots which are able to work in our future homes and factories. Furthermore, achieving the smooth and natural movements of humans has become a hot topic in robotics, especially when robots are supposed to work in close proximity to humans. The anthropomimetic principle aims at mimicking not only the outside but also the inner mechanisms of the human body in humanoid robots. However, for this class of robots there exist as yet no scalable controllers that might make it possible to control a full body, or even several joints. A very similar problem is ongoing research in biomechanics which is the computation of muscle excitation patterns for coordinated movements. For this purpose, biomechanicists have developed computed muscle control which has proven a very scalable technique.In this paper, we demonstrate the adaptation of computed muscle control for a tendon-driven robot, comparing different methods for obtaining the muscle kinematics, as well as different low-level controllers. Results are shown for the implementation on a distributed control architecture and a single revolute elbow joint.

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Section: Modeling Musculoskeletal Robotsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Computed muscle control for an anthropomimetic elbow joint

Jantsch

Wittmeier

Dalamagkidis

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…However, these control approaches were only used in the simulation of a human body, without even considering the implementation in a robotic system. Other control schemes for musculoskeletal robot systems, like [7][8][9], show a very detailed analysis of a specific joint structure and propose a control law based on it. However, [7,10] do not cover biarticular muscles, and none of the above investigate the control of ball-and-socket (or spherical) joints.…”

Section: Fig 1 Eccerobot Design Study (Eds)mentioning

confidence: 99%

“…In [7,8] a model of a tendon-driven robot is obtained directly for the full state space. This leads to a very complex and also non-linear model for which a controller can be found, provided the system is small enough.…”

Section: Modeling Musculoskeletal Robotsmentioning

confidence: 99%

A scalable joint-space controller for musculoskeletal robots with spherical joints

Jantsch

Schmaler

Wittmeier

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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Abstract-In the long history of robotics research, the most prominent problem has always been, to develop robots that can safely operate in human-centered environments. One way towards the goal of a safe, and human-friendly robot, is to incorporate more and more of the flexibility that can be found in humans, by mimicking the internal mechanisms. In this work we propose a scalable joint-space control scheme based on computed torque control for an anthropomimetic robot. To achieve this, the dynamic system model of the robot is decomposed into hierarchical subsystems, using scalable modeling algorithms where possible. Machine learning techniques were employed to tackle the problem of muscle force to joint torque mapping.The developed control scheme has been evaluated using the highly refined simulation of an anthropomimetic robot arm featuring 11 muscles, a revolute elbow joint and a spherical shoulder joint. We show trajectory tracking based on a lowlevel muscle and a high-level joint control scheme, taking into account the coupling between the joints due to inertial reactions and bi-articular muscles.

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“…This paper describes its structure using the mechanical model shown in Fig. 1.b [2]. Each joint rotation is driven by two motors working in AA mode.…”

Section: Anthropomimetic Robot Structurementioning

confidence: 99%

Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks

Potkonjak

Jovanović

Svetozarevic³

et al. 2011

Volume 6: 35th Mechanisms and Robotics Conference, Parts a and B

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This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot's joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot's dynamics, starting from the "Flier" approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.

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Biologically-Inspired Control of a Compliant Anthropomimetic Robot

Cited by 12 publications

References 0 publications

Computed muscle control for an anthropomimetic elbow joint

Computed muscle control for an anthropomimetic elbow joint

A scalable joint-space controller for musculoskeletal robots with spherical joints

Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks

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