Abstract
The anthropomimetics represents a relatively new discipline in the field of robotics that tends to go one step further than copying human shape and functionality. In order to fully transfer certain human behavior patterns to the robots working in a human adapted environment, it is necessary to fully copy human body and structure. However, the emerging issue in this field is how to control such a mechanism. This chapter presents some concepts related to the control of human- like drives. The first one is the biologically inspired and energy efficient puller-follower control concept for the antagonistically coupled compliant drives. Although the concept follows its biological paragon, it is still realizable in a conventional engineering way. Apart from the antagonistically coupled muscles, it is required to deal with the control of muscles crossing several joints (poly-articular muscles) or even multi-DOF joints, where conventional control techniques can hardly offer any solution. The second part of this chapter suggests possible approaches to dealing with these issues, by exploiting cognition and heuristics. The control algorithm involves two levels: feedforward (FF) and feedback (FB), both relying on the experience. Based on the prior knowledge of human-like motions, FF control is obtained using neural networks or heuristic approach. Regardless of the antagonistic drive structure, both methods are applicable to a wider class of robots. This chapter advocates these methods as an efficient tool to evade the exact mathematical modeling and conventional control of the nonlinear and redundant mechanical system. For fine movements, the FB control is introduced through fuzzy logic. It presents a novel solution to issues emerging as a result of combining the experience-based learning and the “black-box” model of the system. Finally, we have compared and contrasted engineering and cognitive approaches, thus drawing attention to their advantages and disadvantages, as well as their possible applications.
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Acknowledgments
The research work reported here was made possible by Grant No. 35003 and No. 44008 of Serbian Ministry of Science and Technological Development.
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Potkonjak, V., Jovanovic, K., Milosavljevic, P. (2014). How to Control Anthropomimetic Robot: Engineering and Cognitive Approach. In: Rodić, A., Pisla, D., Bleuler, H. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 20. Springer, Cham. https://doi.org/10.1007/978-3-319-05431-5_20
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DOI: https://doi.org/10.1007/978-3-319-05431-5_20
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