268
C. Morrow et al.
This placement algorithm will be useful in the future for creating adaptable
and robust bipedal robots. A bipedal robot created with compliant PAMs that
are placed in a biomimetic way will have an easier time navigating an environment that humans are able to navigate through easily. Obstacles, such as steps
or ledges, as well as changing ground surfaces, will be easily overcome by a robot
that is developed to walk like a human. These muscle placements also afford the
opportunity for a robotic platform that can be used to test biological hypotheses. Some hypotheses core to bipedal organism are the investigation of biarticular
muscles, how balance is maintained and controlled, and how muscles coordinate
with one another to create stable standing and gait. Creating a robotic platform
with all 92 muscles in the lower legs with PAMs is infeasible currently, so steps
have to be made to reduce the number of muscles while maintaining biomimetic
properties. That is nearly achieved here. With continued improvement on the
optimization algorithm, we can create those muscle placements to create a robot
that will very closely match what a human is capable of with less complexity.
The robotic model that we create here will represent a step forward towards
capturing a greater amount of the complexity of the human musculoskeletal system, and enable more sophisticated investigations into how the complexity of
the system affect control, both positively and negatively.
References
1. Asano, Y., Okada, K., Inaba, M.: Design principles of a human mimetic humanoid:
humanoid platform to study human intelligence and internal body system. Sci.
Robot. 2(13), eaaq0899 (2017). http://robotics.sciencemag.org/lookup/doi/10.
1126/scirobotics.aaq0899
2. Bolen, B.P., Hunt, A.J.: Determination of artificial muscle placement for
biomimetic humanoid robot legs. In: Martinez-Hernandez, U., et al. (eds.) Living Machines 2019. LNCS (LNAI), vol. 11556, pp. 15–26. Springer, Cham (2019).
https://doi.org/10.1007/978-3-030-24741-6 2
3. Buschmann, T., Ewald, A., Twickel, A.V., B¨ uschges, A.: Controlling legs for
locomotion-insights from robotics and neurobiology. Bioinspiration Biomimetics 10(4), 041001 (2015). https://doi.org/10.1088%2F1748-3190%2F10%2F4
%2F041001, publisher: IOP Publishing
4. Delp, S.L., et al.: OpenSim: open-source software to create and analyze dynamic
simulations of movement. IEEE Trans. Biomed. Eng. 54(11), 1940–1950 (2007).
http://ieeexplore.ieee.org/document/4352056/
5. Deng, K., et al.: Neuromechanical model of rat hindlimb walking with two-layer
CPGs. Biomimetics 4(1), 21 (2019). https://www.mdpi.com/2313-7673/4/1/21
6. Grillner, S.: Biological pattern generation: the cellular and computational logic of
networks in motion. Neuron 52(5), 751–66 (2006). http://www.ncbi.nlm.nih.gov/
pubmed/17145498
7. Hill, A.V.: The heat of shortening and the dynamic constants of muscle.
Proc. Royal Soc. London B: Biol. Sci. 126(843), 136–195 (1938). http://rspb.
royalsocietypublishing.org/content/126/843/136
8. Hosoda, K., Sakaguchi, Y., Takayama, H., Takuma, T.: Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure. Autonomous Robots
28(3), 307–316 (2010). http://link.springer.com/10.1007/s10514-009-9171-6
C. Morrow et al.
This placement algorithm will be useful in the future for creating adaptable
and robust bipedal robots. A bipedal robot created with compliant PAMs that
are placed in a biomimetic way will have an easier time navigating an environment that humans are able to navigate through easily. Obstacles, such as steps
or ledges, as well as changing ground surfaces, will be easily overcome by a robot
that is developed to walk like a human. These muscle placements also afford the
opportunity for a robotic platform that can be used to test biological hypotheses. Some hypotheses core to bipedal organism are the investigation of biarticular
muscles, how balance is maintained and controlled, and how muscles coordinate
with one another to create stable standing and gait. Creating a robotic platform
with all 92 muscles in the lower legs with PAMs is infeasible currently, so steps
have to be made to reduce the number of muscles while maintaining biomimetic
properties. That is nearly achieved here. With continued improvement on the
optimization algorithm, we can create those muscle placements to create a robot
that will very closely match what a human is capable of with less complexity.
The robotic model that we create here will represent a step forward towards
capturing a greater amount of the complexity of the human musculoskeletal system, and enable more sophisticated investigations into how the complexity of
the system affect control, both positively and negatively.
References
1. Asano, Y., Okada, K., Inaba, M.: Design principles of a human mimetic humanoid:
humanoid platform to study human intelligence and internal body system. Sci.
Robot. 2(13), eaaq0899 (2017). http://robotics.sciencemag.org/lookup/doi/10.
1126/scirobotics.aaq0899
2. Bolen, B.P., Hunt, A.J.: Determination of artificial muscle placement for
biomimetic humanoid robot legs. In: Martinez-Hernandez, U., et al. (eds.) Living Machines 2019. LNCS (LNAI), vol. 11556, pp. 15–26. Springer, Cham (2019).
https://doi.org/10.1007/978-3-030-24741-6 2
3. Buschmann, T., Ewald, A., Twickel, A.V., B¨ uschges, A.: Controlling legs for
locomotion-insights from robotics and neurobiology. Bioinspiration Biomimetics 10(4), 041001 (2015). https://doi.org/10.1088%2F1748-3190%2F10%2F4
%2F041001, publisher: IOP Publishing
4. Delp, S.L., et al.: OpenSim: open-source software to create and analyze dynamic
simulations of movement. IEEE Trans. Biomed. Eng. 54(11), 1940–1950 (2007).
http://ieeexplore.ieee.org/document/4352056/
5. Deng, K., et al.: Neuromechanical model of rat hindlimb walking with two-layer
CPGs. Biomimetics 4(1), 21 (2019). https://www.mdpi.com/2313-7673/4/1/21
6. Grillner, S.: Biological pattern generation: the cellular and computational logic of
networks in motion. Neuron 52(5), 751–66 (2006). http://www.ncbi.nlm.nih.gov/
pubmed/17145498
7. Hill, A.V.: The heat of shortening and the dynamic constants of muscle.
Proc. Royal Soc. London B: Biol. Sci. 126(843), 136–195 (1938). http://rspb.
royalsocietypublishing.org/content/126/843/136
8. Hosoda, K., Sakaguchi, Y., Takayama, H., Takuma, T.: Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure. Autonomous Robots
28(3), 307–316 (2010). http://link.springer.com/10.1007/s10514-009-9171-6