Скачать или смотреть Physics-Based Modeling of an Anthropomimetic Robot

The control of tendon-driven robots using techniques from traditional robotics remains a very challenging task that has been so far only successfully achieved for small-scale setups comprising exclusively revolute joints. Hence, we propose a fundamentally different approach. Instead of deriving an analytical robot model using either the Newton-Euler or Lagrangian formulation we suggest to employ physics-based simulation engines to simulate the peculiar dynamics of this emerging class of robots and to use the simulated robot model as an internal model for robot control.



In this video, we present the reverse-engineered physics-based model of an anthropomimetic robot implemented on Caliper, a simulation framework developed within the EU-funded project Eccerobot. The model comprises an accurate model of the skeleton derived from laser scan data, as well as of artificial ligaments and muscles. The individual sub-models are validated separately against measurements and the successful integration of all sub-models is demonstrated by executing a limb movement which requires the parallel control of multiple muscles.