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.
|出版ステータス||Published - 2013 1 1|
|イベント||2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China|
継続期間: 2013 12 12 → 2013 12 14
|Conference||2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013|
|Period||13/12/12 → 13/12/14|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用