A motor control strategy with virtual musculoskeletal systems for compliant anthropomorphic robots

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 6, 2009, Pages 677-688

  Hyon, Sang Ho ^a,b  

^a ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

^b NATIONAL INSTITUTE OF INFORMATION AND COMMUNICATIONS TECHNOLOGY   (Japan)

Author keywords

Anthropomorphic robots; Compliance; Force control; Musculoskeletal systems; Posture control; Redundancy; Stiffness

Indexed keywords

CARTESIANS; COMPLIANCE; COMPUTATIONAL COSTS; FULL BODY; FULL-BODY MOTION CONTROL; HYDRAULIC ACTUATOR; INTERNAL MOTION; JOINT STIFFNESS; JOINT STIFFNESS CONTROL; JOINT TORQUE CONTROL; MOTOR CONTROL; POSTURE CONTROL; REDUNDANCY RESOLUTION; TASK-SPACE CONTROL; TORQUE CONTROLLERS;

ANTHROPOMORPHIC ROBOTS; FORCE CONTROL; HYDRAULICS; MOTORS; MUSCULOSKELETAL SYSTEM; QUALITY ASSURANCE; REDUNDANCY; STIFFNESS; TORQUE CONTROL;

CONTROLLERS;

EID: 70450237715     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2033117     Document Type: Article

References (28)

1. J. Yamaguchi and A. Takanishi, "Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism," in Proc. IEEE Int. Conf. Robot. Autom., 1997, vol.1, pp. 185-192.
2. J. Pratt, C. Chew, A. Torres, P. Dilworth, and G. Pratt, "Virtual model control: An intuitive approach for bipedal locomotion," Int. J. Robot. Res., vol.20, no.2, pp. 129-143, 2001.
3. B. Vanderborght, B. Verrelst, R. V. Ham, M. V. Damme, D. Lefeber, B. M. Y. Duran, and P. Beyl, "Exploiting natural dynamics to reduce energy consumption by controlling the compliance of soft actuators," Int. J. Robot. Res., vol.25, no.4, pp. 343-358, 2006.
4. K. Kong and D. Jeon, "Design and control of an exoskeleton for the elderly and patients," IEEE/ASME Trans. Mechatronics, vol.11, no.4, pp. 428-432, Aug. 2006.
5. N. Bernstein, The Control and Regulation of Movements. NewYork: Pergamon, 1967.
6. S. Hyon, J. G. Hale, and G. Cheng, "Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces," IEEE Trans. Robot., vol.23, no.5, pp. 884-898, Oct. 2007.
7. S. Hyon, "Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces," IEEE Trans. Robot., vol.25, no.1, pp. 171-178, Feb. 2009.
8. S. Arimoto, H. Hashiguchi, and R. Ozawa, "A simple control method coping with a kinematically ill-posed inverse problem of redundant robots: Analysis in case of a handwriting robot," Asian J. Control, vol.7, no.2, pp. 112-123, 2005.
9. S. Arimoto, Control Theory of Non-Linear Mechanical Systems: A Passivity-Based and Circuit-Theoretic Approac (Oxford Engineering Science Series).. London, U.K.: Oxford Univ. Press, 1996.
10. A. J. van der Schaft, L2-Gain and Passivity Techniques in Nonlinear Control. New York: Springer-Verlag, 1999.
11. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. Boca Raton, FL: CRC Press, 1994.
12. L. Slotine, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
13. M. Kawato, "Feedback-error-learning neural network for supervised motor learning," in Advanced Neural Computers, R. Eckmiller, Ed. Amsterdam, The Netherlands: Elsevier, 1990, pp. 365-373.
14. N. Hogan, "Adaptive control of mechanical impedance by coactivation of antagonist muscles," IEEE Trans. Autom. Control, vol.AC-29, no.8, pp. 681-690, Aug. 1984.
15. M. Kawato, "From 'Understanding the brain by creating the brain' towards manipulative neuroscience," Philos. Trans. Roy. Soc., vol.363, no.1500, pp. 2201-2214, 2008.
16. G. Cheng, S. Hyon, J. Morimoto, A. Ude, J. G. Hale, G. Colvin,W. Scroggin, and S. C. Jacobsen, "CB: A humanoid research platform for exploring neuroscience," Adv. Robot., vol.21, no.10, pp. 1097-1114, 2007.
17. L. R. Squire, D. Berg, F. Bloom, S. D. Lac, A. Ghosh, and N. C. Spitzer, Eds., Fundamental Neuroscience. New York: Academic, 2008.
18. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE J. Robot. Autom., vol.RA-3, no.1, pp. 43-53, Feb. 1987.
19. J. Yamaguchi, E. Soga, S. Inoue, and A. Takanishi, "Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking," in Proc. IEEE Int. Conf. Robot. Autom., Detroit, MI, May 1999, pp. 368-374.
20. N. Hogan, "Impedance control: An approach to manipulation: Part I-theory-," Trans. ASME, J. Dyn. Syst., Meas. Control, vol.107, no.1, pp. 1-7, 1985.
21. S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa, "Natural resolution of ill-posedness of inverse kinematics for redundant robots: A challenge to Bernstein's degrees-of-freedom problem," Adv. Robot., vol.19, no.4, pp. 401-434, 2005.
22. S. Hyon, R. Osu, and Y. Otaka, "Integration ofmulti-level postural balancing on humanoid robots," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 1549-1556.
23. T. Yoshikawa, "Dynamic manipulability of robotic mechanisms," J. Robot. Syst., vol.2, no.1, pp. 113-124, 1985.
24. S. Hyon, J. Morimoto, and G. Cheng, "Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, 2008, pp. 2705-2710.
25. D. A. Winter, A.B.C. (Anatomy, Biomechanics and Control) of Balance During Standing and Walking. Waterloo, ON:Waterloo Biomechanics, 1995.
26. P. G. Morasso and M. Schieppati, "Can muscle stiffness alone stabilize upright standing?" J. Neurophysiol., vol.82, no.3, pp. 1622-1626, 1999.
27. P. G. Morasso, L. Baratto, R. Capra, and G. Spada, "Internal models in the control of posture," Neural Netw., vol.12, no.7-8, pp. 1173-1180, 1999.
28. M. Kawato, "Internal models for motor control and trajectory planning," Curr. Opin. Neurobiol., vol.9, pp. 718-727, 1999.