A scalable joint-space controller for musculoskeletal robots with spherical joints

Michael Jäntsch, Christian Schmaler, Steffen Wittmeier, Konstantinos Dalamagkidis, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

30 Scopus citations

Abstract

In the long history of robotics research, the most prominent problem has always been, to develop robots that can safely operate in human-centered environments. One way towards the goal of a safe, and human-friendly robot, is to incorporate more and more of the flexibility that can be found in humans, by mimicking the internal mechanisms. In this work we propose a scalable joint-space control scheme based on computed torque control for an anthropomimetic robot. To achieve this, the dynamic system model of the robot is decomposed into hierarchical subsystems, using scalable modeling algorithms where possible. Machine learning techniques were employed to tackle the problem of muscle force to joint torque mapping. The developed control scheme has been evaluated using the highly refined simulation of an anthropomimetic robot arm featuring 11 muscles, a revolute elbow joint and a spherical shoulder joint. We show trajectory tracking based on a low-level muscle and a high-level joint control scheme, taking into account the coupling between the joints due to inertial reactions and bi-articular muscles.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages2211-2216
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 7 Dec 201111 Dec 2011

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/TerritoryThailand
CityPhuket
Period7/12/1111/12/11

Keywords

  • anthropomimetic robot
  • biomechanics
  • biorobotics
  • distributed control
  • robot control

Fingerprint

Dive into the research topics of 'A scalable joint-space controller for musculoskeletal robots with spherical joints'. Together they form a unique fingerprint.

Cite this