title: Toward anthropomimetic robotics: development, simulation, and control of a musculoskeletal torso.
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.
authors.affiliation: Technische Universität München, Germany. steffen.wittmeier@in.tum.de
authors.forename: Steffen
authors.initials: S
authors.lastname: Wittmeier
authors.forename: Cristiano
authors.initials: C
authors.lastname: Alessandro
authors.forename: Nenad
authors.initials: N
authors.lastname: Bascarevic
authors.forename: Konstantinos
authors.initials: K
authors.lastname: Dalamagkidis
authors.forename: David
authors.initials: D
authors.lastname: Devereux
authors.forename: Alan
authors.initials: A
authors.lastname: Diamond
authors.forename: Michael
authors.initials: M
authors.lastname: Jäntsch
authors.forename: Kosta
authors.initials: K
authors.lastname: Jovanovic
authors.forename: Rob
authors.initials: R
authors.lastname: Knight
authors.forename: Hugo Gravato
authors.initials: HG
authors.lastname: Marques
authors.forename: Predrag
authors.initials: P
authors.lastname: Milosavljevic
authors.forename: Bhargav
authors.initials: B
authors.lastname: Mitra
authors.forename: Bratislav
authors.initials: B
authors.lastname: Svetozarevic
authors.forename: Veljko
authors.initials: V
authors.lastname: Potkonjak
authors.forename: Rolf
authors.initials: R
authors.lastname: Pfeifer
authors.forename: Alois
authors.initials: A
authors.lastname: Knoll
authors.forename: Owen
authors.initials: O
authors.lastname: Holland
mesh_terms: D000465:Algorithms; D000886:Anthropometry / Q000379:methods; D001185:Artificial Intelligence; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D008465:Mechanoreceptors / Q000502:physiology; D008962:Models, Theoretical; D016571:Neural Networks, Computer; D010825:Physics / Q000379:methods; D012371:Robotics / Q000379:methods*; D012863:Skeleton; D012984:Software; D013710:Tendons; D060726:Torso / Q000033:anatomy & histology / Q000502:physiology*