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Artificial Life and Robotics
Published in: Artificial Life and Robotics 2/2014

01-09-2014 | Original Article

Estimation of physical interaction between a musculoskeletal robot and its surroundings

Authors: Kenji Urai, Yuya Okadome, Yoshihiro Nakata, Yutaka Nakamura, Hiroshi Ishiguro

Published in: Artificial Life and Robotics | Issue 2/2014

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Abstract

Recently, robots are expected to support our daily lives in real environments. In such environments, however, there are a lot of obstacles and the motion of the robot is affected by them. In this research, we develop a musculoskeletal robotic arm and a system identification method for coping with external forces while learning the dynamics of complicated situations, based on Gaussian process regression (GPR). The musculoskeletal robot has the ability to cope with external forces by utilizing a bio-inspired mechanism. GPR is an easy-to-implement method, but can handle complicated prediction tasks. The experimental results show that the behavior of the robot while interacting with its surroundings can be predicted by our method.
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Metadata
Title
Estimation of physical interaction between a musculoskeletal robot and its surroundings
Authors
Kenji Urai
Yuya Okadome
Yoshihiro Nakata
Yutaka Nakamura
Hiroshi Ishiguro
Publication date
01-09-2014
Publisher
Springer Japan
Published in
Artificial Life and Robotics / Issue 2/2014
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-014-0148-y

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