Meso : a virtual musculature for humanoid motor control
Author(s)Adams, Bryan (Bryan Paul), 1977-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Rodney A. Brooks.
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Humanoid behavior requires a system with access to humanoid variables. Our humanoid robot, Cog, has two arms that are structurally similar to those of humans; however, the sensory system only provides a sense of strain and position. This thesis describes a model of the human energy metabolism that is linked to the robot's behavior. As the robot uses its arms, the model incorporates the behavior to create a sense of tiredness, fatigue, soreness, or excitement in the robot, both locally at the joints and globally as a part of the overall system. The model also can limit the robot's exertion when appropriate according to the biological system.
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2000.Includes bibliographical references (p. 54-55).
DepartmentMassachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.