A human-like robot torso ZAR5 with fluidic muscles: Toward a common platform for embodied AI

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 4850 LNAI, Issue , 2007, Pages 347-357

  Boblan, Ivo ^a   Bannasch, Rudolf ^b   Schulz, Andreas ^b   Schwenk, Hartmut ^a  

^a TECHNISCHE UNIVERSITÄT BERLIN   (Germany)

^b EVOLOGICS GMBH   (Germany)

Author keywords

Biological archetype; Biological inspired construction; Common platform; Embodied artificial intelligence; Fluidic muscle; Humanoid robot; Muscle tendon system; Weight saving construction

Indexed keywords

ARTIFICIAL ORGANS; HUMAN COMPUTER INTERACTION; MUSCLE; SENSORS; SIGNAL PROCESSING;

BIOLOGICAL ARCHETYPES; BIOLOGICAL INSPIRED CONSTRUCTION; EMBODIED ARTIFICIAL INTELLIGENCE; FLUIDIC MUSCLES; HUMANOID ROBOTS; MUSCLE TENDON SYSTEMS; WEIGHT SAVING CONSTRUCTION;

ROBOTS;

EID: 37149016773     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-540-77296-5_31     Document Type: Conference Paper

References (28)

1. anon., Fluidic Muscle DMSP/MAS, FESTO AG & Co. KG (2005), https://xdki.festo.com/xdki/data/doc_de/pdf/de/mas_de.pdf
2. BIOKON e.V., BIOKON - Competence in Bionics, What is Bionics? (2006), http://www.biokon.net/bionik/bionik.html.en
3. Šurdiloviæ, D.T.: Synthesis of Robust Compliance Control Algorithms for Industrial Robots and Advanced Interaction Systems. In: Mechanical Engineering Faculty, University in Niš, p. 475 (2002)
4. Okada, M., Nakamura, Y., Ban, S.: Design of Programmable Passive Compliance Shoulder Mechanism. In: Proceedings of the 2001 IEEE International Conference on Robotics & Automation, Seoul, Korea (2001)
5. Rocco, P., Ferretti, G., Magnani, G.: Implicit Force Control for Industrial Robots in Contact with Stiff Surfaces. Automatica 33(11), 2041-2047 (1997)
6. Pratt, G.A., et al.: Stiffness Isn't Everything. Fourth International Symposium on Experimental Robotics. In: ISER 1995, p. 6 (1995)
7. Williamson, M.: Series Elastic Actuators. In: MIT Department of Electrical Engineering and Computer Science, p. 83 (1995)
8. Brooks, R., et al.: The Cog Project: Building a Humanoid Robot. In: Nehaniv, C.L. (ed.) Computation for Metaphors, Analogy, and Agents. LNCS (LNAI), vol. 1562, pp. 52-87. Springer, Heidelberg (1999)
9. Beira, R., et al.: Design of the Robot-Cub (iCub) Head. In: IEEE International Conference on Robotics and Automation, ICRA (2006)
10. Bar-Cohen, Y., Breazeal, C.: Cognitive Modeling for Biomimetic Robots. In: Biologically Inspired Intellilgent Robots, pp. 253-283. SPIE Press, Washington USA (2003)
11. anon., Shadow Dexterous Hand C5, Technical Specification, Shadow Robot Company (2006), http://www.shadowrobot.com/downloads/ shadow_dextrous_hand_technical_specification_ C5.pdf
12. Boblan, I., et al.: A Human-like Robot Hand and Arm with Fluidic Muscles: Biologically Inspired Construction and Functionality. In: Iida, F., et al. (eds.) Embodied Artificial Intelligence, pp. 160-179. Springer, Heidelberg (2004)
13. Fenn, W.O., Marsh, B.S.: Muscular force at different speeds of shortening. Journal of physiology 85(3), 277-298 (1935)
14. Gordon, A.M., Huxley, A.F., Julian, F.J.: The variation in isometric tension with sarcomere length in vertebrate muscle fibres. Journal of Physiology 184, 170-192 (1966)
15. Carlson, F.D., Wilkie, D.R.: Muscle Physiology. Prentice-Hall, Inc., Englewood Cliffs (1974)
16. Huxley, A.F.: Muscular Contraction. Journal of Physiology (London) 243, 1-43 (1974)
17. Neumann, R., Bretz, C., Volzer, J.: Ein Positionierantrieb mit hoher Kraft: Positions- und Druckregelung eines künstlichen pneumatischen Muskels. In: 4. Internationalen Fluidtechnischen Kolloquium, Dresden, p. 12 (2004)
18. Boblan, I., et al.: A Human-like Robot Hand and Arm with Fluidic Muscles: Modelling of a Muscle Driven Joint with an Antagonistic Setup. In: 3rd Int. Symposium on Adaptive Motion in Animals and Machines, Technische Universität Ilmenau, Germany (2005)
19. Caffaz, A., et al.: The DIST-Hand, an Anthropomorphic, Fully Sensorized Dexterous Gripper. In: IEEE Humanoids 2000. MIT, Boston, USA (2000)
20. Folgheraiter, M., Gini, G.: Blackfingers an artificial hand that copies human hand in structure, size, and function. In: Proc. IEEE Humanoids 2000, p. 4. MIT, Cambridge (2000)
21. Fukaya, N., et al.: Design of the TUAT/Karlsruhe Humanoid Hand, Karlsruhe, p. 6 (2000)
22. Casalino, G., et al.: Dexterous Object Manipulation via Integrated Hand-Arm Systems. In: IEEE Humanoids 2001, Tokyo, Japan (2001)
23. Kawasaki, H., Komatsu, T., Uchiyama, K.: Dexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II. IEEE/ASME Transactions on Mechatronics 7(3), 296-303 (2002)
24. Osswald, D., et al.: Integrating a Flexible Anthropomorphic Robot Hand into the Control System of a Humanoid Robot. In: Proc. of the Int. Conf. on Humanoid Robots, p. 12 (2003)
25. Northrup, S., Sarkar, N., Kawamura, K.: Biologically-Inspired Control Architecture for a Humanoid Robot, Center for Intelligent Systems, Nashville, Vanderbilt University, TN 37235. p. 6
26. Folgheraiter, M., Gini, G.: A bio-inspired control system and a VRML Simulator for an Autonomous Humanoid Arm. p. 16
27. Folgheraiter, M., Gini, G.: Human-Like Hierarchical Reflex Control for an Artificial Hand. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots, p. 8 (2001)
28. Williamson, M.: Robot Arm Control Exploiting Natural Dynamics. In: MIT Department of Electrical Engineering and Computer Science, p. 192 (1999)