Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Modeling and Development of Human-Muscle Type Humanoid

인체근육 구조 인간형 로봇의 모델링 및 구현

  • 오지헌 (한양대학교 전자컴퓨터공학부) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2007.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi-and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

Keywords

References

  1. Morisawa, M., Yakoh, T., Murakami, T. and Ohnishi, K., 'An approach to biped robot with parallel mechanism,' Proceedings 6th International Workshop on Advanced Motion Control, pp. 537-541, 2000
  2. Morisawa, M., Fujimoto, Y., Murakami, T. and Ohnishi, K., 'A walking pattern generation for biped robot with parallel mechanism by considering contact force,' Proceedings on IEEE 27th Annual Conference, IECON '01, Industrial Electronics Society, pp. 2184-2189, 2001
  3. Sugahara, Y., Tatsuro, E., Lim, H.O. and Takanishi, A., 'Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism,' Proc. of the IEEE/RSJ International Conference on Intelligent Robots and System, pp. 2658-2663, 2002
  4. Takita, K., Hodoshima, R. and Hirose, S., 'Fundamental Mechanism of Dinosaur-like Robot TITRUS-II Utilizing Coupled Drive,' Proc. of the IEEE International Conference on Intelligent Robots and Systems, pp. 1670-1675, 2000
  5. Sellaouti, R., Konno, A. and Ouezdou, F.B., 'Design of a 3DOFs Parallel Actuated Mechanism for a Biped Hip Joint,' Proc. of the IEEE International Conference on Intelligent Robotics and Automation, pp.1161-1166, 2002
  6. Freeman, R.A. and Tesar, D., 'Dynamic modeling of serial and parallel mechanisms/robotic systems, Part I-Methodology, Part II-Applications,' Proceedings on 20th ASME Biennial Mechanisms Conference, Trends and Development in Mechanisms, Machines and Robotics, DE-Vol. 15-3, pp. 7-27, 1988
  7. So, B. R., Yi, B. J., Kim, W. K., Oh, S. R., Park, J. I. and Kim, Y.S., 'Design of a Redundantly Actuated Leg Mechanism,' Proc. of the IEEE International Conference on Intelligent Robotics and Automation, pp. 4348-4353, 2003
  8. Hemami, H. and Dinneen, J., 'A marionette-based control strategy for stable movement,' IEEE Transactions in Biomedical Engineering, Vol. 40, No. 10, pp. 541-548, 1993 https://doi.org/10.1109/10.237673
  9. Spagele, T., Kistner, A. and Gollhofer, A., 'A multi-phase optimal control technique for the simulation of a human vertical jump,' Journal of Biomechanics, pp. 87-91, 1999 https://doi.org/10.1016/S0021-9290(98)00135-3
  10. Hirose, S. and Ma, S., 'Coupled Tendon-driven Multijoint Manipulator,' Proc. of the IEEE International Conference on Intelligent Robotics and Automation, pp. 1268-1275, 1991
  11. Massie, T. and Stalisbury, K., 'PHANTOM Haptic Interface: A Device for Probing Virtual Objects,' ASME Journal of Dynamic System and Control, pp. 295-299, 1994