Motor development of an pneumatic musculoskeletal infant robot

Narioka, Kenichi; Hosoda, Koh

doi:10.1109/icra.2011.5980416

Cited by 30 publications

(19 citation statements)

References 16 publications

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“…The muscle arrangement in the robot is similar to that of human muscles; however, the number of muscles on its one leg is only 14 [6]. Koh Hosoda et al have developed musculoskeletal infant robots with pneumatic artificial muscles [7]. These robots have a humanlike musculoskeletal structure and McKibben pneumatic muscles that imitate human muscles.…”

Section: Introductionmentioning

confidence: 99%

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Musculoskeletal lower-limb robot driven by multifilament muscles

et al. 2016

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This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy. The purpose of this robot is to achieve motions and characteristics that are very similar to a human body. We use a thin McKibben muscle, which is compliant and flexible, as the actuator of a musculoskeletal robot. Using a bundle of thin McKibben muscles, we develop a multifilament muscle that has characteristics similar to those of human muscles. In contrast, the actuators of conventional musculoskeletal robots are very heavy, not densely attached and have poor backdrivability. Because multifilament muscles are light and can be densely attached, we can attach them to the musculoskeletal robot as skeletal muscle and achieve a redundant system that is equivalent to a human drive mechanism. In this paper, we report a method for fabricating multifilament muscles that imitate various muscles, the development of a lower-limb muscle mechanism for the redundant musculoskeletal robot with thin McKibben muscles and experimental results showing that the proposed musculoskeletal robot achieves humanlike motions that have not yet been reported for other robots.

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Section: Introductionmentioning

confidence: 99%

“…In addition, the same research group also developed a biped robot powered by antagonistic pneumatic actuators [8]. The design concept of this robot is basically the same as that of the robots in [7]. This robot suggests that joint compliance contributes to the realization of various types of locomotion.…”

Section: Introductionmentioning

confidence: 99%

Musculoskeletal lower-limb robot driven by multifilament muscles

et al. 2016

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“…CPG networks (Taga 1994;Kimura et al 2007;Ijspeert 2008) have been established for robotic tasks involving rhythmic tasks (Righetti et al 2009;Narioka et al 2011) and discrete tasks (Degallier Rochat et al 2011), with open loop control (Ijspeert et al 2007) or by using feedback mechanisms Umedachi et al 2010;Sato et al 2011). A strong indicator for open loop control in animals was presented in fictive locomotion experiments with isolated lamprey spinal cords (Ijspeert et al 2007).…”

Section: Related Workmentioning

confidence: 99%

Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot

Spröwitz

Tuleu

Vespignani

et al. 2013

The International Journal of Robotics Research

369

265

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We present the design of a novel compliant quadruped robot: Cheetahcub, and a series of locomotion experiments with fast trotting gaits. The robot's leg configuration is based on a spring-loaded, pantograph mechanism with multiple segments. A dedicated open loop locomotion controller was derived and implemented. Experiments were run in simulation and in hardware on flat terrain and with a step-down, demonstrating the robot's self-stabilizing properties. The robot reached a running trot with short flight phases with a maximum Froude number of FR=1.30, or 6.9 body lengths per second. Morphological parameters such as the leg design also played a role. By adding distal in-series elasticity, self-stability and maximum robot speed improved. Our robot has several advantages, especially when compared to larger and stiffer quadruped robot designs. 1) It is, to the best of our knowledge, the fastest of all quadruped robots below 30 kg (in terms of Froude number and body lengths per second). 2) It shows self-stabilizing behavior over a large range of speeds with open loop control. 3) It is lightweight, compact, electrically powered. 4) It is cheap, easy to reproduce, robust, and safe to handle. This makes it an excellent tool for research of multi-segment legs in quadruped robots.

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“…For example, its body is connected to a large and heavy pneumatic drive/control system which makes it difficult to achieve precise control and several interactions such as being carried up or moving around because of the many cables. In this regard, we were strongly inspired by the design strategies of Pneuborn-7II, -7III, and -13 [25] and CB 2 . [14] Their body components are specialized for each aim, i.e.…”

Section: Discussionmentioning

confidence: 99%

“…Compliant joints are often achieved by actuators with mechanical softness such as pneumatic ones. For example, Pneuborn-7II, -7III, and -13 [25] have antagonistically attached Mckibben pneumatic artificial muscles, which have a rubber balloon as the main component. Such pneumatic actuators are suitable for constructing a complex musculoskeletal system with large DOFs and bi-articular muscles because of the high power-weight ratio and structural flexibility.…”

Section: Mechanical Softnessmentioning

confidence: 99%

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

Ishihara¹,

Asada²

2015

Advanced Robotics

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Child robots have been used in a lot of studies on human-robot social/physical interaction because they are suitable for safe and casual experiments. However, providing many compliant joints and lifelike exteriors to enhance their interaction potential is difficult because of the limited space available inside their bodies. In this paper, we propose an upper body structure that consists of slider crank and parallel mechanisms for linear actuators and serial mechanisms for rotary actuators. Such combinations of several joint mechanisms efficiently utilize the body space; in total, 22 degrees of freedoms were realized in an upper body space equivalent to that of an 80cm tall child. A pneumatic drive system was adopted in order to fully verify the behavioral performance of the body mechanism. The proposed redundant and compact upper body mechanism can be a platform for testing the effectiveness of future exteriors for the little child android 'Affetto', which was developed in order to integrate several key characteristics for achieving advanced human-robot interaction.

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Motor development of an pneumatic musculoskeletal infant robot

Cited by 30 publications

References 16 publications

Musculoskeletal lower-limb robot driven by multifilament muscles

Musculoskeletal lower-limb robot driven by multifilament muscles

Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot

Design of 22-DOF pneumatically actuated upper body for child android ‘Affetto’

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