Controlling tendon driven humanoids with a wearable device with Direct-Mapping Method
Controlling tendon driven humanoids with a wearable device with Direct-Mapping Method
复制标题
DOI：
10.1109/roman.2012.6343791
复制
发表时间：
2012-11
期刊：
影响因子：
--
通讯作者：
Tomoko Kurotobi;Takuma Shirai;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba
中科院分区：
文献类型：
--
作者：
Tomoko Kurotobi;Takuma Shirai;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba
在本文中，我们提出了一种“直接映射方法”，并描述了一种可穿戴设备，它具有与肌腱驱动的类人机器人相似的肌肉排列。这种装置有和机器人肌肉一样多的线性编码器来控制，它们的排列方式就像机器人的肌肉排列一样。肌腱驱动的类人机器人具有人体大小、多自由度和肌肉骨骼结构的优势，因此能够做出比杆式驱动的类人机器人更接近人类的姿势。如果我们可以教他们人类的姿势，他们就会变得更像人类，这样我们就会对机器人有一种熟悉感。然而，由于它们的结构复杂，有时会做出不正确的姿势。必须有一个反馈系统来详细控制他们的骨骼。要想做出像人类一样的自然姿势，并通过反馈给用户来做出精确的运动，最好的方法可能是可穿戴设备。有了这个装置，我们就可以控制肌腱驱动的仿人机器人，而不需要在计算机上建立它们的仿真模型。文中讨论了该装置和控制系统的硬件设置。通过对肌腱驱动的仿人机器人的控制实验，验证了该装置的有效性。在控制机器人时，出现了部分肌肉松动或过紧的情况。然而，该设备的行为教学框架有助于未来详细的机器人运动。
In this paper we propose a “Direct-Mapping Method” and describe a wearable device which has a similar muscle arrangement as a tendon-driven humanoid robot. This device has linear-encoders as many as the muscles of the robot to control, and they are arranged like the robot's muscle alignment. Tendon-driven humanoids have advantages of their human size, multiple Degrees of freedoms and their musclo-skeletal structure, therefore they are able to make more human-like poses than shaft-driven humanoid robots. If we can teach human poses to them, they become more human-like so that we feel a sense of familiarity with robots. However, because of their complex structure, sometimes they make incorrect poses. There must be a feedback system to control their bones in detail. To make human-like pose naturally and to make precise motion by feed back to the user, the best way may be a wearable device. With this device, we can control tendon-driven humanoids without making their simulation model in the computer. We discuss the hardware settings of the device and the controlling system in this paper. Experiments of controlling a tendon-driven humanoid were conducted to demonstrate the effectiveness of the device. When controlling the robot, a situation that some muscles are loose or too tight occured. However, this device's behavior-teaching framework contributes to detailed robotic movement in the future.