A biological humanoid joint controller based on muscle model

Fei Meng, Xiaopeng Chen, Jingtao Xue, Chunbao Wang, Qing Shi, Atsuo Takanishi, Qiang Huang

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    It is challenging to design a humanoid robot control framework that maintains high-level motion performance in an unknown environment as this requires complicated sensing capabilities and time-consuming process. On the other hand, basic autonomous motion control in joint space is relatively easier and faster to fulfil dynamic tasks. Based on modeling of human muscles, this paper proposes a biological joint controller developed from biological patterns of muscle activity and dynamics of internal forces. Combining autonomous and synergic control, the controller has the capability of fast active response of environment and autonomous recovery from abnormality. The experiment in Waseda Kyotokagaku Elbow Robot verified the effectiveness of the proposed biological joint controller.

    Original languageEnglish
    Title of host publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
    PublisherIEEE Computer Society
    Pages1336-1340
    Number of pages5
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen
    Duration: 2013 Dec 122013 Dec 14

    Other

    Other2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
    CityShenzhen
    Period13/12/1213/12/14

    Fingerprint

    Muscle
    Joints
    Muscles
    Controllers
    Robots
    Motion control
    Elbow
    Recovery
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Biotechnology

    Cite this

    Meng, F., Chen, X., Xue, J., Wang, C., Shi, Q., Takanishi, A., & Huang, Q. (2013). A biological humanoid joint controller based on muscle model. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 (pp. 1336-1340). [6739650] IEEE Computer Society. https://doi.org/10.1109/ROBIO.2013.6739650

    A biological humanoid joint controller based on muscle model. / Meng, Fei; Chen, Xiaopeng; Xue, Jingtao; Wang, Chunbao; Shi, Qing; Takanishi, Atsuo; Huang, Qiang.

    2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. p. 1336-1340 6739650.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Meng, F, Chen, X, Xue, J, Wang, C, Shi, Q, Takanishi, A & Huang, Q 2013, A biological humanoid joint controller based on muscle model. in 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013., 6739650, IEEE Computer Society, pp. 1336-1340, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, 13/12/12. https://doi.org/10.1109/ROBIO.2013.6739650
    Meng F, Chen X, Xue J, Wang C, Shi Q, Takanishi A et al. A biological humanoid joint controller based on muscle model. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society. 2013. p. 1336-1340. 6739650 https://doi.org/10.1109/ROBIO.2013.6739650
    Meng, Fei ; Chen, Xiaopeng ; Xue, Jingtao ; Wang, Chunbao ; Shi, Qing ; Takanishi, Atsuo ; Huang, Qiang. / A biological humanoid joint controller based on muscle model. 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. pp. 1336-1340
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