A Humanoid Muscle Robot Torso with Biologically Inspired Construction

摘要

Human-like robots combine the optimized biological morphology and functionality of the real human with the mechanical constraints and limitations in the creation as well as possible. This will be a trade-off at all t imes. The best biological solution of a detail is often simple in the functio n but too complex for the technical analogue. The t echnical materials are often missing what make a one-to-one copy impossible. The combination of biology and robots leads to s moother and compliant movement, which is more pleasant for us as people. Biologically inspired robots embody no ri gid movement, which are made possible by special joints, or actua tors, which give way, and can both actively and pas sively, adapt stiffness in different situations. This paper present the humanoid muscle robot torso called “Zwei-Arm-Roboter” ZAR5 in human-like proportions and functionality, which is fully actuated by artificia l air muscles. The first section gives a short intr oduction as to how Bionik engineers think in terms of compliant machines and whose technical realisation. The second sectio n looks briefly at mechanical aspects, limitations and constraints and furthermore describes the human-like anthropomorphic five-finger hand. This section also comprises a short view of t he used fluidic muscle actuators of the company FESTO 1 . Section 3 describes the electronic components and the decentr alized control architecture, which fulfils the requ irements on an evolvable control. The last section concludes the pap er.