Base motions of muscle-driven robots for compositional action development

Author

Suzuki, Masakazu

Author_Institution

Sch. of Eng., Tokai Univ., Hiratsuka, Japan

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

1679

Lastpage

1684

Abstract

This paper is concerned with a method of evolutionary action development for a type of robots whose joints are all driven by the artificial muscle based actuator: Strand-Muscle Actuator (StMA). Fundamental Muscle Extension/Contraction for StMAs is investigated as the base motion. Complex actions are realized through the Intelligent Composite Action Control (ICAC), which is a learning methodology for intelligent robots that gradually realize complex actions from the base motions. After giving the control scheme for StMA-based joints and the outline of the ICAC, they are applied to a StMA-based biped robot. It is shown that the swing-leg action for walking is realized from the base motion through the ICAC.

Keywords

electroactive polymer actuators; intelligent robots; legged locomotion; motion control; StMA-based biped robot; artificial muscle; base motion; compositional action development; evolutionary action development; fundamental muscle contraction; fundamental muscle extension; intelligent composite action control; intelligent robot; learning methodology; muscle-driven robot; strand-muscle actuator; swing-leg action; Actuators; Arrays; Joints; Legged locomotion; Muscles; Action Intelligence; Artificial Muscle; Motion Planning; Robot Learning;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318723