Header

UZH-Logo

Maintenance Infos

Towards anthropomimetic robotics: Development, simulation, and control of a musculoskeletal torso


Abstract

Abstract Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, have been developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.

Abstract

Abstract Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, have been developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.

Statistics

Citations

17 citations in Web of Science®
17 citations in Scopus®
Google Scholar™

Altmetrics

Downloads

167 downloads since deposited on 17 Jan 2013
65 downloads since 12 months
Detailed statistics

Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:2013
Deposited On:17 Jan 2013 15:41
Last Modified:21 Nov 2017 16:22
Publisher:MIT Press
ISSN:1064-5462
Additional Information:Copyright: MIT Press
Publisher DOI:https://doi.org/10.1162/ARTL_a_00088
PubMed ID:23186343
Other Identification Number:merlin-id:7791

Download

Download PDF  'Towards anthropomimetic robotics: Development, simulation, and control of a musculoskeletal torso'.
Preview
Content: Published Version
Filetype: PDF
Size: 1MB
View at publisher