ICRA 2011 Paper Abstract


Paper TuA207.5

Narioka, Kenichi (Osaka University), Hosoda, Koh (Osaka University)

Motor Development of an Pneumatic Musculoskeletal Infant Robot

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots II" (TuA207), Tuesday, May 10, 2011, 11:05−11:20, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Biologically-Inspired Robots, Humanoid Robots, Hydraulic/Pneumatic Actuators


This paper aims to clarify the mechanism of an infantís locomotive development from the viewpoint of cognitive developmental robotics. We built up an infant-sized musculoskeletal robot driven by McKibben pneumatic actuators, which enable the robot to interact with its environment without any problems of mechanical damage and excessive heat in long-term experiments. We applied a learning algorithm based on central pattern generators and optimization method as a way for the robot to acquire its crawling motion. As a result of a developmental experiment, an efficient forward motion was acquired with the proposed method. We discuss how its musculoskeltal body, spinal structure and tonus of the artificial muscles affect its development of crawling behavior.



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