Robots are ever more present in human environments and effective physical human-robot interactions are essential to many applications. But to a person, these interactions rarely feel biological or equivalent to a human-human interactions. It is our goal to make robots feel more human-like, in the hopes of allowing more natural human-robot interactions. In this paper, we examine a novel biologically-inspired control method, emulating antagonistic muscle pairs based on a nonlinear Hill model. The controller captures the muscle properties and dynamics and is driven solely by muscle activation levels. A human-robot experiment compares this approach to PD and PID controllers with equivalent impedances as well as to direct human-human interactions. The results show the promise of driving motors like muscles and allowing users to experience robots much like humans.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Antagonistic muscle based robot control for physical interactions


    Contributors:


    Publication date :

    2015-05-01


    Size :

    1725259 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

    Tödtheide, Alexander / Lilge, Torsten / Haddadin, Sami | BASE | 2015

    Free access

    Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

    Tödtheide, Alexander | TIBKAT | 2015

    Free access


    Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint

    Tödtheide, Alexander / Shahriari, Erfan / Haddadin, Sami | BASE | 2017

    Free access