Advantages of flexible musculoskeletal robot structure in sensory acquisition

  • Authors:

  • Shuhei Ikemoto;Yoichi Nishigori;Koh Hosoda

  • Affiliations:

  • Department of Multimedia Engineering, Osaka University, Suita, Japan 565-0871;Department of Adaptive Machine Systems, Osaka University, Suita, Japan 565-0871;Department of Multimedia Engineering, Osaka University, Suita, Japan 565-0871 and Department of Adaptive Machine Systems, Osaka University, Suita, Japan 565-0871

  • Venue:
  • Artificial Life and Robotics
  • Year:
  • 2012

Quantified Score

Hi-index 0.00

Visualization

Abstract

Morphological computation is the concept for which a well-designed hardware can bear part of the computational cost required for robot's control and perception. So far, many musculoskeletal robots have been developed by taking inspiration from human's one and shown superior motion performances. The use of pneumatic artificial muscles (PAMs) has been the key to realize these high performance. Additionally, PAMs have the possibility of being used as sensors for environmental information because they are flexible and backdrivable. In this research, we focus on clarifying how PAMs can contribute to morphological computation of robots driven by these actuators. In particular, we propose an analysis method based on transfer entropy and apply this method to the experimental data acquired by a musculoskeletal robot that opens a door.