A biological humanoid joint controller based on muscle model

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

doi:10.1109/ROBIO.2013.6739650

A biological humanoid joint controller based on muscle model

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

School of Creative Science and Engineering

Research output: Contribution to conference › Paper › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Pages	1336-1340
Number of pages	5
DOIs	https://doi.org/10.1109/ROBIO.2013.6739650
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 2013 Dec 12 → 2013 Dec 14

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	13/12/12 → 13/12/14

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Biotechnology

Access to Document

10.1109/ROBIO.2013.6739650

Cite this

@conference{83ba6cfde30a490dafc3fcc767c18165,

title = "A biological humanoid joint controller based on muscle model",

abstract = "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.",

author = "Fei Meng and Xiaopeng Chen and Jingtao Xue and Chunbao Wang and Qing Shi and Atsuo Takanishi and Qiang Huang",

year = "2013",

doi = "10.1109/ROBIO.2013.6739650",

language = "English",

pages = "1336--1340",

note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",

}

TY - CONF

T1 - A biological humanoid joint controller based on muscle model

AU - Meng, Fei

AU - Chen, Xiaopeng

AU - Xue, Jingtao

AU - Wang, Chunbao

AU - Shi, Qing

AU - Takanishi, Atsuo

AU - Huang, Qiang

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84898813354&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84898813354&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2013.6739650

DO - 10.1109/ROBIO.2013.6739650

M3 - Paper

AN - SCOPUS:84898813354

SP - 1336

EP - 1340

T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

A biological humanoid joint controller based on muscle model

Abstract

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this