Musculoskeletal Robotics Modeling and Simulation
作者： Ahmad Zaki bin Hj Shukor , Fariz bin Ali@Ibrahim , Muhammad Fahmi bin Miskon , Mohd Shakir bin Md Saat , Mohd Khairi bin Mohamed Nor
DOI: 10.1007/978-981-4585-42-2_2
关键词:
摘要: This paper presents the kinematics and dynamics of a musculoskeletal model inspired by humans/animals where bones (links) are actuated muscles (linear actuators). Starting from single-link structure, were addressed to link joint muscle variables. From kinematic constraints, structure also presented. Later 3D two-link was constructed in ROCOS software simulate effect gravity environment (floor). In simulations, constraints correctly defined as snapshots show intact before after contact with environment.
springer.com
sci-hub.st 参考文章(9)
Timo Birnschein, Malte Roemmermann, Peter Kampmann, Jens Hilljegerdes, Steffen Planthaber, Florian Cordes, Frank Kirchner, Daniel Kuehn, Sebastian Bartsch, SpaceClimber: Development of a Six-Legged Climbing Robot for Space Exploration german conference on robotics. pp. 1- 8 ,(2010)
Michele Focchi, Thiago Boaventura, Claudio Semini, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Torque-control based compliant actuation of a quadruped robot 2012 12th IEEE International Workshop on Advanced Motion Control (AMC). pp. 1- 6 ,(2012) , 10.1109/AMC.2012.6197133
Jose Saenz, Norbert Elkmann, Thomas Stuerze, Sven Kutzner, Heiko Althoff, Robotic systems for cleaning and inspection of large concrete pipes international conference on applied robotics for power industry. pp. 1- 7 ,(2010) , 10.1109/CARPI.2010.5624448
Sehoon Oh, Y Kimura, Y Hori, Force control based on biarticular muscle system and its application to novel robot arm driven by planetary gear system intelligent robots and systems. pp. 4360- 4365 ,(2010) , 10.1109/IROS.2010.5654314
Y. Fujimoto, A. Kawamura, Simulation of an autonomous biped walking robot including environmental force interaction IEEE Robotics & Automation Magazine. ,vol. 5, pp. 33- 42 ,(1998) , 10.1109/100.692339
Isela Bonilla, Marco Mendoza, Emilio J. Gonzalez-Galván, César Chavez-Olivares, Ambrocio Loredo-Flores, Fernando Reyes, Path-Tracking Maneuvers With Industrial Robot Manipulators Using Uncalibrated Vision and Impedance Control systems man and cybernetics. ,vol. 42, pp. 1716- 1729 ,(2012) , 10.1109/TSMCC.2012.2218235
Valerio Salvucci, Yasuto Kimura, Sehoon Oh, Yoichi Hori, Force Maximization of Biarticularly Actuated Manipulators Using Infinity Norm IEEE-ASME Transactions on Mechatronics. ,vol. 18, pp. 1080- 1089 ,(2013) , 10.1109/TMECH.2012.2193670
Ahmad Zaki Shukor, Yasutaka Fujimoto, Workspace control of biarticular manipulator 2011 IEEE International Conference on Mechatronics. pp. 415- 420 ,(2011) , 10.1109/ICMECH.2011.5971322
Andrea Calanca, Luca M. Capisani, Antonella Ferrara, Lorenza Magnani, MIMO Closed Loop Identification of an Industrial Robot IEEE Transactions on Control Systems and Technology. ,vol. 19, pp. 1214- 1224 ,(2011) , 10.1109/TCST.2010.2077294