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Computation with mechanically coupled springs for compliant robots


Sumioka, Hidenobu; Hauser, Helmut; Pfeifer, Rolf (2011). Computation with mechanically coupled springs for compliant robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California USA, 25 September 2011 - 30 September 2011, 4168-4173.

Abstract

We introduce a simple model of human’s musculoskeletalsystem to identify the computation that a compliantphysical body can achieve. A one-joint system driven by actuationof the springs around the joint is used as a computationaldevice to compute the temporal integration and nonlinearcombination of an input signal. Only a linear and static readoutunit is needed to extract the output of the computation. Theresults of computer simulations indicate that the network ofmechanically coupled springs can emulate several nonlinearcombinations which need temporal integration. The simulationwith a two-joint system also shows that, thanks to mechanicalconnection between the joints, a distant part of a compliantbody can serve as a computational device driven by the indirectinput. Finally, computational capability of antagonistic musclesand information transfer through mechanical couplings arediscussed.

Abstract

We introduce a simple model of human’s musculoskeletalsystem to identify the computation that a compliantphysical body can achieve. A one-joint system driven by actuationof the springs around the joint is used as a computationaldevice to compute the temporal integration and nonlinearcombination of an input signal. Only a linear and static readoutunit is needed to extract the output of the computation. Theresults of computer simulations indicate that the network ofmechanically coupled springs can emulate several nonlinearcombinations which need temporal integration. The simulationwith a two-joint system also shows that, thanks to mechanicalconnection between the joints, a distant part of a compliantbody can serve as a computational device driven by the indirectinput. Finally, computational capability of antagonistic musclesand information transfer through mechanical couplings arediscussed.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:30 September 2011
Deposited On:07 Feb 2012 09:37
Last Modified:13 Aug 2017 10:54
Publisher:IEEE
Series Name:Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
ISSN:2153-0858
ISBN:978-1-61284-454-1
Publisher DOI:https://doi.org/10.1109/IROS.2011.6095023
Other Identification Number:merlin-id:4919

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