ANDy - Anthropomorphic natural dynamics

Human muscle and robot hands

Designing a robot to move in a human-like way is intended to improve human-robot interaction for the next generation of robotic applications where robots are envisaged to work in close proximity to humans.

Humanoid robot dynamics

Though humanoid robots are being produced in increasing quantity and variety they are still often controlled by the same methods of their industrial counterparts, with large unpredictable movements of redundant joints.

This project aims to generate more human like motion from anthropomorphic (humanoid) robots by imposing an anatomically inspired control scheme based on human muscle location, grouping and response.

By having such a model running alongside the robot’s primary motion controller the robot constrains its motion for maximum efficiency. This produces movement trajectories that appear lifelike while still permitting the primary controller to execute useful tasks.

The control scheme is implemented in the form of a novel nonlinear controller based on a dynamic model of the robot system. This creates a general system where a practical application has been achieved through a controller grounded in theoretical mathematics.

Designing a robot to move in a human-like way is intended to improve human-robot interaction for the next generation of robotic applications where robots are envisaged to work in close proximity to humans and elements of trust and predictability are linked to efficient working and safety.

Project robots

This project uses the BERUL (Bristol Elumotion Robotic Upper Limb) and BERT (Bristol Elumotion Robotic Torso) robot systems that were designed and built by Elumotion Ltd. The new arm can be seen demonstrating its ability to be passively backdriven.

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Theme Leader

Project people

The principle investigators on this project are:

  • Adam Spiers,
  • Guido Herrmann
  • Chris Melhuish
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Page last updated 12 May 2016

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