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Type Journal Article
Scope Discipline-based scholarship
Title Towards anthropomimetic robotics: Development, simulation, and control of a musculoskeletal torso
Organization Unit
Authors
  • Steffen Wittmeier
  • Cristiano Alessandro
  • Nenad Bascarevic
  • Konstantinos Dalamagkidis
  • David Devereux
  • Alan Diamond
  • Michael Jäntsch
  • Kosta Jovanovic
  • Rob Knight
  • Hugo Gravato Marques
  • Predrag Milosavljevic
  • Bhargav Mitra
  • Bratislav Svetozarevic
  • Veljko Potkonjak
  • Rolf Pfeifer
  • Alois Knoll
  • Owen Holland
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
Journal Title Artificial Life
Publisher MIT Press
Geographical Reach international
ISSN 1064-5462
Volume 19
Number 1
Page Range 171 - 193
Date 2013
Abstract Text 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.
Free access at PubMed ID
Digital Object Identifier 10.1162/ARTL_a_00088
PubMed ID 23186343
Other Identification Number merlin-id:7791
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Additional Information Copyright: MIT Press