NDLI: Motion generation of redundant musculoskeletal humanoid based on robot-model error compensation by muscle load sharing and interactive control device

Content Provider	IEEE Xplore Digital Library
Author	Asano, Yuki Shirai, Takuma Kozuki, Toyotaka Motegi, Yotaro Nakanishi, Yuto Okada, Kei Inaba, Masayuki
Copyright Year	2013
Description	Author affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan (Asano, Yuki; Shirai, Takuma; Kozuki, Toyotaka; Motegi, Yotaro; Nakanishi, Yuto; Okada, Kei; Inaba, Masayuki)
Abstract	Musculoskeletal humanoid has robot-model errors because of muscle elasticity or elongation. This leads to low accuracy and repeatability in joint position control. In particular, this is a serious problem during high-load motions. In this paper, we propose and implement its compensation methods for generating motions in the presence of robot-model errors. One of the control methods presented is a muscle-load sharing method utilizing redundant muscle arrangement which is specific in musculoskeletal humanoid. The other is an interactive control system enabling interactive joint position modification by using human physical or visual information. Finally, we tested several motions by integrating the two systems.
Starting Page	336
Ending Page	341
File Size	801046
Page Count	6
File Format	PDF
ISBN	9781479926176
ISSN	21640572
e-ISBN	9781479926190
DOI	10.1109/HUMANOIDS.2013.7029996
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-10-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Wires Muscles Control systems Joints Robots
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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