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

Potkonjak, Veljko; Jovanović, Kosta; Svetozarevic, Bratislav; Holland, Owen; Mikicic, Dusan

doi:10.1115/detc2011-47256

Cited by 6 publications

(3 citation statements)

References 14 publications

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“…Because of differences between humans and robots, such as kinematic differences, the mapping is usually strongly nonlinear. Although a control system based on the kinematic and/or the dynamics model is the most straightforward approach [16,17], it is not always realistically applicable if complex robots that have many DOFs are the control target. To overcome this problem, nonlinear mapping techniques have been employed, such as feedforward neural networks [18,19] and support vector machines [20][21][22].…”

Section: Robot Control Based On Semg Signalsmentioning

confidence: 99%

Shoulder complex linkage mechanism for humanlike musculoskeletal robot arms

2015

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The shoulder complex in the human body consists of the scapula, clavicle, humerus, and thorax and bears the load imposed by arm movements while at the same time realizing a wide range of motions. To mimic and exploit its role, several musculoskeletal robot arms with shoulder complex mechanisms have been developed. However, although many research groups have tried to design the structures using links and joints that faithfully correspond to the bones and joints in the human shoulder complex, its function has not been successfully reproduced because biologically plausible designs seriously compromise engineering plausibility. In this paper, we propose a linkage mechanism that can reproduce complex three-dimensional scapulo movements and considers the trade-off between biological and engineering plausibilities. Subsequently, the design was validated by driving the mechanism using pneumatic artificial muscles (PAMs) placed similarly to muscles in humans. Further, we present experiments in which the robot was controlled by surface electromyographic signals from a human. We show that the proposed design, due to its kinematic similarity with human musculoskeletal systems, eases the conversion between the surface electromyogram signals and the PAMs control inputs.

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Section: Robot Control Based On Semg Signalsmentioning

confidence: 99%

Shoulder complex linkage mechanism for humanlike musculoskeletal robot arms

2015

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“…The full dynamics model of the semi-anthropomimetic robot with antagonistically coupled drives is shown in [24] and presented here by equation (1). N-dimensional equation (1) describes the dynamics of the robot with antagonistic actuation.…”

Section: Robot Configuration Dynamics and Control Strategymentioning

confidence: 99%

“…Figure 2 shows the mechanical models. The full dynamics model of the semi-anthropomimetic robot with antagonistically coupled drives is shown in [24] and presented here by equation (1). N-dimensional equation (1) …”

Section: Robot Configuration Dynamics and Control Strategymentioning

confidence: 99%

Balance Analysis of the Mobile Anthropomimetic Robot Under Disturbances – ZMP Approach

Antoska

Jovanović

Petrović

et al. 2013

International Journal of Advanced Robotic Systems

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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).

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