NDLI: Distributed control for an anthropomimetic robot

Content Provider	IEEE Xplore Digital Library
Author	Jäntsch, M. Wittmeier, S. Knoll, A.
Copyright Year	2010
Description	Author affiliation: Chair for Robotics and Embedded Systems, Department of Informatics, Technische Universität München, Munich, Germany (Jäntsch, M.; Wittmeier, S.; Knoll, A.)
Abstract	Major progress in robotics turns today's humanoid robots into ever safer, more robust, and more agile agents by the moment. However, it is still a long way until robots can safely operate in open environments. Especially in the area of service robotics, the need arises for robots to work flexibly in a human centered environment. One way towards this goal is to incorporate more and more of the mechanisms that can be found in humans for our robots. In this work we would like to propose a bio-inspired control architecture for an equally bio-inspired — namely anthropomimetic — humanoid robot. To achieve this, the human motor control system is analyzed and copied at a structural level. This results in a distributed control infrastructure that is capable of reducing the complexity of the control task by off-loading parts of the control problem into the robot's limbs. Finally, we will prove the fact that it is possible to control an anthropomimetic robot with a large number of degrees of freedom with the proposed control architecture.
Starting Page	5466
Ending Page	5471
File Size	1011151
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651169
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Robot sensing systems Humans Joints DC motors biorobotics anthropomimetic robot robot control distributed control biomechanics
Content Type	Text
Resource Type	Article

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