Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso
| Autor: | Michael Jantsch, Steffen Wittmeier, Hugo Gravato Marques, Nenad Bascarevic, Bratislav Svetozarevic, Bhargav Mitra, Kosta Jovanovic, Rob Knight, Veljko Potkonjak, Owen Holland, David Devereux, Alois Knoll, Alan Diamond, Rolf Pfeifer, Predrag Milosavljevic, Konstantinos Dalamagkidis, Cristiano Alessandro |
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| Přispěvatelé: | Wittmeier, S, Alessandro, C, Bascarevic, N, Dalamagkidis, K, Devereux, D, Diamond, A, Jantsch, M, Jovanovic, K, Knight, R, Marques, H, Milosavljevic, P, Mitra, B, Svetozarevic, B, Potkonjak, V, Pfeifer, R, Knoll, A, Holland, O |
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Physics-based modeling Computer science 02 engineering and technology General Biochemistry Genetics and Molecular Biology Tendons 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Morphological computation Classical control theory Motor control Artificial Intelligence Human–computer interaction medicine Humans Computer Simulation Anthropomimetic robot Algorithms Anthropometry Artificial intelligence Computer Simulation Equipment Design Humans Mechanoreceptors Models Theoretical Neural Networks (Computer) Physics Robotics Skeleton Software Tendons Torso Control (linguistics) Skeleton Anthropometry business.industry Physics Torso Robotics Equipment Design Human body Models Theoretical ddc medicine.anatomical_structure Robot Neural Networks Computer Artificial intelligence business Mechanoreceptors Algorithms Software Simulation 030217 neurology & neurosurgery Research Article |
| Zdroj: | Artificial Life Artif Life |
| ISSN: | 1530-9185 1064-5462 |
| DOI: | 10.1162/artl_a_00088 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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