Physics-based modeling of an anthropomimetic robot

Wittmeier, Steffen; Jantsch, Michael; Dalamagkidis, Konstantinos; Knoll, Alois

doi:10.1109/iros.2011.6094459

Cited by 10 publications

(20 citation statements)

References 14 publications

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“…This simulator was specifically developed to reflect the robotic system introduced in Section II. Hence, a robotic skeleton with different joint types, including static as well as dynamic (Coulomb and viscous) friction can be simulated [11]. Furthermore it allows for a detailed simulation of the muscular system, including a refined version of the motor dynamics specified in Section III-B, additionally featuring Coulomb friction.…”

Section: Resultsmentioning

confidence: 99%

“…Furthermore it allows for a detailed simulation of the muscular system, including a refined version of the motor dynamics specified in Section III-B, additionally featuring Coulomb friction. Furthermore, not only the robot itself but also the control architecture as described in [2] is modeled, so the force control loops are executed asynchronously both to the simulation and the high-level control, as they would in a distributed system [11].…”

Section: Resultsmentioning

confidence: 99%

“…The production techniques, as well as the materials used, facilitate the creation of a robot of this complexity. However the impossibility of dismantling and reassembling the robot, as well as lack of a CAD design, pose major challenges in system modeling [11]. Not only the type of actuation is as close to its biological counter part as possible with today's technology, but also the attachment points of the AM.…”

Section: The Eccerobotmentioning

confidence: 99%

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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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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: The Eccerobotmentioning

confidence: 99%

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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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“…Bone masses were extrapolated from the known material density and volume. Compound bodies, such as the metal motors and gearboxes mounted on polymorph bones, were modelled by a single compound collision shape with the centre of mass and inertia tensor calculated from the combined mass and shape of each component [19].…”

Section: Simulating the Passive Structurementioning

confidence: 99%

“…The forces generated in each muscle cable were calculated by tracking the amount of kiteline currently unwound from the relevant motor and comparing this to the current distance from the motor to the attachment point. Any discrepancy was assumed to be taken up by the length of the elastic shock cord and the resultant tension was calculated from Hooke's Law (see [19] for details). Bodies joined solely by passive shock cord were modelled as unmotorized cables.…”

Section: Simulating the Active Structurementioning

confidence: 99%

Anthropomimetic Robots: Concept, Construction and Modelling

Diamond

Knight

Devereux

et al. 2012

International Journal of Advanced Robotic Systems

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An anthropomimetic robot is one that closely copies the mechanics of the human body by having a human-like jointed skeleton moved by compliant musclelike actuators. This paper describes the progress achieved in building anthropomimetic torsos in two projects, CRONOS and ECCEROBOT. In each, the bones were hand-moulded in a thermoplastic and the muscles were implemented by DC motors shortening and extending elastic tendons. Anthropomimetic robots differ from conventionally engineered robots by having complex joints and compliant tendon driven actuation that can cross more than one joint. Taken together, these characteristics make the robots unsuitable for control by standard methods, and so the ability to model them is important for developing heuristic methods of control and also for providing forward models. The robots were modelled using physics-based techniques which enable the study of the generation of movements and also of interactions with arbitrary objects. The lightweight and compliant structure of the robots was found to be safe for human proximity and contact.

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