{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/8929"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/8929","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Meso : a virtual musculature for humanoid motor control","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Adams, Bryan (Bryan Paul), 1977-"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["Rodney A. Brooks."],"committee_chairs":[],"committee_members":[],"year":2000,"date_issued":"2000","date_published":"2000","updated_at":"2026-07-22T22:20:56Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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