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: Contribution to conferencePaperpeer-review

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
Pages1336-1340
Number of pages5
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China
Duration: 2013 Dec 122013 Dec 14

Conference

Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
CountryChina
CityShenzhen
Period13/12/1213/12/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biotechnology

Fingerprint Dive into the research topics of 'A biological humanoid joint controller based on muscle model'. Together they form a unique fingerprint.

Cite this