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.

Wittmeier, S., Alessandro, C., Bascarevic, N., Dalamagkidis, K., Devereux, D., Diamond, A., et al. (2013). Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso. ARTIFICIAL LIFE, 19(1), 171-193 [10.1162/artl_a_00088].

Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso

Alessandro C;
2013

Abstract

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.
Si
Articolo in rivista - Articolo scientifico
Scientifica
Anthropomimetic robots; Morphological computation; Motor control; Physics-based modeling; Simulation;
English
171
193
23
Wittmeier, S., Alessandro, C., Bascarevic, N., Dalamagkidis, K., Devereux, D., Diamond, A., et al. (2013). Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso. ARTIFICIAL LIFE, 19(1), 171-193 [10.1162/artl_a_00088].
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
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10281/392252
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