Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso
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...
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Published in | Artificial life Vol. 19; no. 1; pp. 171 - 193 |
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Main Authors | , , , , , , , , , , , , , , , , |
Format | Journal Article |
Language | English |
Published |
One Rogers Street, Cambridge, MA 02142-1209, USA
MIT Press
2013
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Subjects | |
Online Access | Get full text |
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Summary: | 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. |
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Bibliography: | Winter, 2013 ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 ObjectType-Article-2 ObjectType-Feature-1 Department of Informatics, University of Sussex, Falmer, East Sussex BN1 9QJ, United Kingdom. E-mail: djcdevereux@gmail.com (D.D.); a.diamond@sussex.ac.uk (A.D.); mitra.bhargav@gmail.com (B.M.); o.e.holland@sussex.ac.uk (O.H.) Contact author. Automatic Control Lab, ETH Zurich, Switzerland. E-mail: bratislavs@control.ee.ethz.ch Chair of Robotics and Embedded Systems, Faculty of Informatics, Technische Universität München, Boltzmannstr. 3, 85748 Garching, Germany. E-mail: steffen.wittmeier@in.tum.de (S.W.); dalamagkidis@tum.de (K.D.); michael.jaentsch@in.tum.de (M.J.); knoll@in.tum.de (A.K.) Faculty of Electrical Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, 11000 Belgrade, Serbia. E-mail: nenadb@etf.rs (N.B.); kostaj@etf.rs (K.J.); predrag.m@etf.rs (P.M.); potkonjak@yahoo.com (V.P.) The Robot Studio SARL, 122 rue de la Versoix, 01220 Divonne les bains, France. E-mail: rob.knight@therobotstudio.com Artificial Intelligence Laboratory, Department of Informatics, University of Zurich, Andreasstr. 15, 8050 Zurich, Switzerland. E-mail: alessandro@ifi.uzh.ch (C.A.); hgmarques@ifi.uzh.ch (H.G.M.); pfeifer@ifi.uzh.ch (R.P.) |
ISSN: | 1064-5462 1530-9185 |
DOI: | 10.1162/ARTL_a_00088 |