Meso : a virtual musculature for humanoid motor control

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2000

Author dc:creator

• Adams, Bryan (Bryan Paul), 1977-

Advisor dc:contributor.advisor

• Rodney A. Brooks.

• Electrical Engineering and Computer Science.

Statement dc: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. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/8929

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/8929