A biological humanoid joint controller based on muscle model

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

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1336-1340
ページ数5
DOI
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 122013 12 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

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