Environment Adaptive Robotic Systems Laboratory

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13 Νοε 2013 (πριν από 3 χρόνια και 10 μήνες)

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Environment Adaptive Robotic Systems Laboratory
Laboratory Head: Zhi-Wei Luo (D.Eng.)

Key Sentence:
Soft Environmental Adaptive Robot for Human Support
Key Words:
Redundant Musculoskeletal System, Soft Human-Robot
Interaction, Artificial Muscle, Dynamic Biped Locomotion,

Purpose of Research:
While today's industrial robots are capable of performing predefined motions in well- structured
environment, biological system can emergence their intelligence and elegant motor behaviors
through interaction with complex environment. The intelligence can further be developed
through the task realization that is rich in environmental adaptation and diversity. Our
research team focuses on the bio-mimetic task realization. Based on the understanding of the
human cognition and complex motor control functions, such as environmental adaptation ability,
self-organization and decentralized cooperative task ability, we develop soft and skillful
environment adaptive robot systems. Constructive research on environment adaptive robot is
also a necessary approach towards better understanding of biological systems.

Research done in FY2005
Theme (Researchers)
To develop of soft robotic systems that can interact with human safely in complex dynamic
environment, in this year we promoted following research subjects.

1. On motor control mechanisms of redundant musculoskeletal dynamic systems (K. Tahara, S.
Arimoto, K. Mita and Z.W. Luo)
By using nonlinear property of the muscle, it is shown that the redundant muscle driven
mechanism can generate viscosity at joint space. Based on this fact, it is possible to control the
human-like arm motions in free motion space by simple task space feedback. The convergence of
the feedback control is also proved.

2. Modeling and analysis of artificial muscles and its applications in robotic (K. Takagi, M.
Yamakita, K. Asaka and Z.W. Luo)
By active cooperation with AIST, the dynamic property of artificial muscles is modeled and
analyzed. The results are applied in developing a ray-like swimming robot. It is found from the
robotic experiments and numerical simulations that, for the equal electrical inputs to each
artificial muscle parts, the bending amplitude of the fin increased from the head to the later
parts in the robot shown in Fig.1(b). This physical phenomenon is also proved from the
distributed model of the artificial model.
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3. Development of soft human interactive robot RI-MAN (T. Odashima, M. Onishi, Z.W. Luo and
other 9 researchers)
As the main subject of this year, a human interactive robot RI-MAN is developed, which
integrated key elemental researches such as full body dynamic manipulation, distributed
control network that has share memory function within small size functional modules,
immersion type 3D dynamic simulation technologies. RI-MAN has show powerful ability to
carry up a dummy with 18kg, it is highly expected for the real applications in the heavy human
care tasks.

4. On energy efficient dynamic biped locomotion mechanism ( F. Asano and Z.W. Luo)
A novel parameter excitation mechanism is discovered for the biped locomotion which can be
used to adjust efficiently the robot’s mechanical energy so as to recover the energy that is lost
while the leg changes from the swing phase to the stances phase.

(a) Human care task by RI-MAN (b) A novel biped locomotion mechanism
Fig.2 Realization of soft and skillful robotic manipulation and locomotion

(a) A human musculo-skeletal system model (b) A swimming robot driven by artificial muscles
Fig.1 Modeling and control of redundant musculo-skeletal systems