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MYOROBOTICS: A modular toolkit for musculoskeletal robot development

Presentation held at the ICRA Workshop ThWT2 S226: Research Challenges and Cross-cutting Applications of Modular Robot Systems
: Maufroy, Christophe; Siee, Maik; Höpf, Michael; Verl, Alexander; Lenz, Alexander; Dalamagkidis, Konstantinos

Postprint urn:nbn:de:0011-n-3035970 (8.4 MByte PDF)
MD5 Fingerprint: 2099eed80a92b4b3d95593617aac412c
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Created on: 21.8.2014

2014, 6 pp.
International Conference on Robotics and Automation (ICRA) <2014, Hong Kong>
European Commission EC
Presentation, Electronic Publication
Fraunhofer IPA ()
Musculoskeletal Robot; MYOROBOTICS; Biomimetrie; Soft-Robotics; Baukasten

This paper provides an overview of Myorobotics, a toolkit for designing, building and operating musculoskeletal robots. Even though this class of robots is an ideal test bed for the investigation of bio-inspired control strategies and for studying biological motor systems, their potential remains largely unused. This is because they have a number of unique features (e.g. posture-dependent muscle forces and complex multi-DoF joints) that present significant technical challenges. The purpose of the Myorobotics project is to provide a modular toolkit that is easy to use and extend to cover a number of applications and use scenarios. It consists of the hardware and the necessary software to enable both roboticists as well as other scientists to experiment and work with musculoskeletal robots. The main concept behind the toolkit is the use of engineered modules that provide functionality equivalent to that of biological bones, muscles and joints. Through the use of standardized interfaces, users can interconnect these modules to form arbitrary robots.