ECCE1: The first of a series of anthropomimetic musculoskeletal upper torsos

Marques, Hugo Gravato; Jantsch, Michael; Wittmeier, Steffen; Holland, Owen; Alessandro, Cristiano; Diamond, Alan; Lungarella, Max; Knight, Rob

doi:10.1109/ichr.2010.5686344

Cited by 94 publications

(60 citation statements)

References 5 publications

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“…This single observation provides a strong motivation to the roboticist to understand biological systems and to exploit the solutions to which they have converged [3,4] (including to understand how biological solutions relate to probabilistic solutions [5]). This motivation is inspiring entirely novel (or, 'unconventional') approaches to mechanics [6], locomotion [7], sensing [8] and decision-making [9], to give only a handful of recent examples. At the same time, 'embodied' (i.e.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic tactile target acquisition, tracking and capture

Mitchinson

Pearson

Pipe

et al. 2014

Robotics and Autonomous Systems

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Section: Introductionmentioning

confidence: 99%

Biomimetic tactile target acquisition, tracking and capture

Mitchinson

Pearson

Pipe

et al. 2014

Robotics and Autonomous Systems

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“…This is the newest platform in the ECCEROBOT family [3]. In this type of robot not only the appearance of the human body is mimicked but also the inner structures, like bones, joints, muscles, and tendons.…”

Section: Fig 1 Eccerobot Design Study (Eds)mentioning

confidence: 99%

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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“…1 and [13]), (ii) the ECCEROBOT Design Study (EDS) [13] and (iii) a simplified test rig (see Fig. 3A).…”

Section: The Anthropomimetic Robot Platformmentioning

confidence: 99%

“…In this paper we present our efforts in deriving an accurate physics-based model of a simplified test rig of the anthropomimetic [12] robot ECCE-I which has been developed within the EU-funded project Embodied Cognition In A Compliantly Engineered Robot (ECCEROBOT, see Fig.1) [5,13]. The physics-based model has been implemented on CALIPER [4], a simulation framework based on Bullet Physics and developed within the ECCEROBOT project.…”

Section: Introductionmentioning

confidence: 99%