Design methodology for the thorax and shoulder of human mimetic musculoskeletal humanoid Kenshiro -a thorax structure with rib like surface -

Kozuki, Toyotaka; Mizoguchi, Hironori; Asano, Yuki; Osada, Masahiko; Shirai, Tomoyuki; Urata, Junichi; Nakanishi, Yoshinobu; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros.2012.6386166

Cited by 37 publications

(20 citation statements)

References 10 publications

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“…To match the force and stiffness requirements of the individual muscles, appropriate ring configurations were selected for each muscle based on the experimental results (see Table II). Similar to the muscle units used in other musculoskeletal robots, the muscle is contracted by coiling the tendon on the motor spindle [1], [7]. Therefore, the maximum linear velocity and force applied by the tendon depend on the spindle radius as well as on the maximum velocity and torque of the gear output shaft which in turn is defined by the used actuator (DC motor and gear).…”

Section: B Musclesmentioning

confidence: 99%

“…This subclass replicates the human skeletal and muscular system with an unprecedented level of detail and are therefore sometimes referred to as musculoskeletal or anthropomimetic robots [5]. Prominent examples for this class of robots are the robots Kenta, Kotaro, Kojiro [6], Kenzoh and Kenshiro [7] built by the Jouhou System Kougaku Laboratory of the University of Tokyo (JSK) since 2002 and the ECCEs developed by the EU-funded project Eccerobot between 2009 and 2012 [1]. However, even though these robots are extremely impressive artifacts, provably stable control strategies have so far not been developed.…”

Section: Introductionmentioning

confidence: 99%

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Anthrob - A printed anthropomimetic robot

Jantsch

Wittmeier²,

Dalamagkidis³

et al. 2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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Abstract-Anthropomimetic robotics differ from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones and joints [1]. Prominent examples for this class of robots are the robots developed at the JSK laboratory of the University of Tokyo and the robots developed by the EU-funded project Embodied Cognition in a Compliantly Engineered Robot (Eccerobot). However, the high complexity of these robots as well as their lack of sensors has so far failed to provide the desired new insights in the field of control.Therefore, we developed the simplified but sensorized robot Anthrob. The robot replicates the human upper limb and features 13 compliant tendon driven uni-and biarticular muscles as well as a spherical shoulder joint. Whenever possible, Selective Laser Sintering (SLS) was used for the production of the robot parts to reduce the production costs and to implement cutting-edge technologies, such as tendon canals or solid-state joints.

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Section: B Musclesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Anthrob - A printed anthropomimetic robot

Jantsch

Wittmeier²,

Dalamagkidis³

et al. 2013

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

show abstract

“…12 Of course, other researchers have designed robots with PAM and the distribution of PAM is similar to that of human muscle, they only analyzed robot with perceptual instead of rational knowledge, not to mention accurate trajectory control. [13][14][15][16] Parallel mechanisms actuated by PAM have been designed of which individual PAM has been controlled using fuzzy control, 17 adaptive robust control, 18 or sliding mode control with adaptive fuzzy cerebellar model articulation controller (CMAC). 19 However, no attention has been paid to controlling the mechanism as a whole.…”

Section: Introductionmentioning

confidence: 99%

Analysis and control of a parallel lower limb based on pneumatic artificial muscles

Jiang

Tao

2017

Advances in Mechanical Engineering

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Most robots that are actuated by antagonistic pneumatic artificial muscles are controlled by various control algorithms that cannot adequately imitate the actual muscle distribution of human limbs. Other robots in which the distribution of pneumatic artificial muscle is similar to that of human limbs can only analyze the position of the robot using perceptual data instead of rational knowledge. In order to better imitate the movement of a human limb, the article proposes a humanoid lower limb in the form of a parallel mechanism where muscle is unevenly distributed. Next, the kinematic and dynamic movements of bionic hip joint are analyzed, where the joint movement is controlled by an observer-based fuzzy adaptive control algorithm as a whole rather than each individual pneumatic artificial muscle and parameters that are optimized by a neural network. Finally, experimental results are provided to confirm the effectiveness of the proposed method. We also document the role of muscle in trajectory tracking for the piriformis and musculi obturator internus in isobaric processes.

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“…Musculoskeletal robots feature compliant actuation and leverage the advantages of tendon-driven systems, where actuators can be placed with more freedom, to e. g. improve the weight distribution. This interesting field of research has in the last decade produced robots like Kenshiro [4] or the ECCES [5].…”

Section: Introductionmentioning

confidence: 99%

Adaptive neural network Dynamic Surface Control: An evaluation on the musculoskeletal robot Anthrob

Jantsch

Wittmeier

Dalamagkidis

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-The soft robotics approach is widely considered to enable robots in the near future to leave their cages and move freely in our modern homes and manufacturing sites. Musculoskeletal robots are such soft robots which feature passively compliant actuation, while leveraging the advantages of tendon-driven systems. Even though these robots have been intensively researched within the last decade, high-performance feedback control laws have only very recently been developed. In [1], a controller was developed utilizing Dynamic Surface Control (DSC), an extension to backstepping, with an adaptive neural network compensator for joint as well as muscle friction. We compare these novel control strategies to Computed Force Control (CFC), an existing technique from the field of tendondriven control, yielding highly improved trajectory tracking. The musculoskeletal robot Anthrob [2] serves as a benchmark.

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Design methodology for the thorax and shoulder of human mimetic musculoskeletal humanoid Kenshiro -a thorax structure with rib like surface -

Cited by 37 publications

References 10 publications

Anthrob - A printed anthropomimetic robot

Anthrob - A printed anthropomimetic robot

Analysis and control of a parallel lower limb based on pneumatic artificial muscles

Adaptive neural network Dynamic Surface Control: An evaluation on the musculoskeletal robot Anthrob

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