Physics-based Modeling of an Anthropomimetic Robot
| Autor: | Michael Jantsch, Konstantinos Dalamagkidis, Alois Knoll, Steffen Wittmeier |
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| Rok vydání: | 2010 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry eccerobot Internal model Control engineering Robotics Mobile robot 02 engineering and technology Solid modeling Revolute joint Motion control Robot control ddc 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Robot Artificial intelligence business 030217 neurology & neurosurgery Simulation |
| Zdroj: | IROS |
| Popis: | The control of tendon-driven robots using techniques from traditional robotics remains a very challenging task that has been so far only successfully achieved for small-scale setups comprising exclusively revolute joints [1, 2]. Hence, we propose a fundamentally different approach. Instead of deriving an analytical robot model using either the Newton-Euler or Lagrangian formulation we suggest to employ physics-based simulation engines to simulate the peculiar dynamics of this emerging class of robots and to use the simulated robot model as an internal model for robot control [3]. In this paper, we present the reverse-engineered derivation of a detailed physics-based model of an anthropomimetic robot implemented on CALIPER [4], a simulation framework developed within the EU-funded project ECCEROBOT [5]. The model comprises an accurate model of the skeleton derived from laser scan data, as well as of artificial ligaments and muscles. The individual sub-models are validated separately against measurements and the successful integration of all sub-models is demonstrated by executing a limb movement which requires the parallel control of multiple muscles. |
| Databáze: | OpenAIRE |
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