Computed muscle control for an anthropomimetic elbow joint

摘要

The soft robotics approach is widely considered to enable human-friendly robots which are able to work in our future homes and factories. Furthermore, achieving the smooth and natural movements of humans has become a hot topic in robotics, especially when robots are supposed to work in close proximity to humans. The anthropomimetic principle aims at mimicking not only the outside but also the inner mechanisms of the human body in humanoid robots. However, for this class of robots there exist as yet no scalable controllers that might make it possible to control a full body, or even several joints. A very similar problem is ongoing research in biomechanics which is the computation of muscle excitation patterns for coordinated movements. For this purpose, biomechanicists have developed computed muscle control which has proven a very scalable technique. In this paper, we demonstrate the adaptation of computed muscle control for a tendon-driven robot, comparing different methods for obtaining the muscle kinematics, as well as different low-level controllers. Results are shown for the implementation on a distributed control architecture and a single revolute elbow joint.