Open document
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General information |
| Author |
Diamond, Alan; Knight, Rob; Devereux, David; Holland, Owen |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
An anthropomimetic robot is one that closely
copies the mechanics of the human body by having a
human‐like jointed skeleton moved by compliant musclelike
actuators. This paper describes the progress achieved
in building anthropomimetic torsos in two projects,
CRONOS and ECCEROBOT. In each, the bones were
hand‐moulded in a thermoplastic and the muscles were
implemented by DC motors shortening and extending
elastic tendons. Anthropomimetic robots differ from
conventionally engineered robots by having complex
joints and compliant tendon driven actuation that can
cross more than one joint. Taken together, these
characteristics make the robots unsuitable for control by
standard methods, and so the ability to model them is
important for developing heuristic methods of control
and also for providing forward models. The robots were
modelled using physics‐based techniques which enable
the study of the generation of movements and also of
interactions with arbitrary objects. The lightweight and
compliant structure of the robots was found to be safe for
human proximity and contact. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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