Toward anthropomimetic robotics: Development, simulation, and control of a musculoskeletal torso

  • Authors:

  • Steffen Wittmeier;Cristiano Alessandro;Nenad Bascarevic;Konstantinos Dalamagkidis;David Devereux;Alan Diamond;Michael Jäntsch;Kosta Jovanovic;Rob Knight;Hugo Gravato Marques;Predrag Milosavljevic;Bhargav Mitra;Bratislav Svetozarevic;Veljko Potkonjak;Rolf Pfeifer;Alois Knoll;Owen Holland

  • Affiliations:

  • Technische Universität München;University of Zurich;University of Belgrade;Technische Universität München;University of Sussex;University of Sussex;Technische Universität München;University of Belgrade;The Robot Studio SARL;University of Zurich;University of Belgrade;University of Sussex;University of Belgrade;University of Belgrade;University of Zurich;Technische Universität München;University of Sussex

  • Venue:
  • Artificial Life
  • Year:
  • 2013

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Abstract

Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, were developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.