---
_id: '1214'
abstract:
- lang: eng
text: 'With the accelerated development of robot technologies, optimal control becomes
one of the central themes of research. In traditional approaches, the controller,
by its internal functionality, finds appropriate actions on the basis of the history
of sensor values, guided by the goals, intentions, objectives, learning schemes,
and so forth. While very successful with classical robots, these methods run into
severe difficulties when applied to soft robots, a new field of robotics with
large interest for human-robot interaction. We claim that a novel controller paradigm
opens new perspective for this field. This paper applies a recently developed
neuro controller with differential extrinsic synaptic plasticity to a muscle-tendon
driven arm-shoulder system from the Myorobotics toolkit. In the experiments, we
observe a vast variety of self-organized behavior patterns: when left alone, the
arm realizes pseudo-random sequences of different poses. By applying physical
forces, the system can be entrained into definite motion patterns like wiping
a table. Most interestingly, after attaching an object, the controller gets in
a functional resonance with the object''s internal dynamics, starting to shake
spontaneously bottles half-filled with water or sensitively driving an attached
pendulum into a circular mode. When attached to the crank of a wheel the neural
system independently develops to rotate it. In this way, the robot discovers affordances
of objects its body is interacting with.'
acknowledgement: RD thanks for the hospitality at the Max-Planck-Institute and for
helpful discussions with Nihat Ay and Keyan Zahedi.
article_number: '7759138'
author:
- first_name: Georg S
full_name: Martius, Georg S
id: 3A276B68-F248-11E8-B48F-1D18A9856A87
last_name: Martius
- first_name: Raphael
full_name: Hostettler, Raphael
last_name: Hostettler
- first_name: Alois
full_name: Knoll, Alois
last_name: Knoll
- first_name: Ralf
full_name: Der, Ralf
last_name: Der
citation:
ama: 'Martius GS, Hostettler R, Knoll A, Der R. Compliant control for soft robots:
Emergent behavior of a tendon driven anthropomorphic arm. In: Vol 2016-November.
IEEE; 2016. doi:10.1109/IROS.2016.7759138'
apa: 'Martius, G. S., Hostettler, R., Knoll, A., & Der, R. (2016). Compliant
control for soft robots: Emergent behavior of a tendon driven anthropomorphic
arm (Vol. 2016–November). Presented at the IEEE RSJ International Conference on
Intelligent Robots and Systems IROS , Daejeon, Korea: IEEE. https://doi.org/10.1109/IROS.2016.7759138'
chicago: 'Martius, Georg S, Raphael Hostettler, Alois Knoll, and Ralf Der. “Compliant
Control for Soft Robots: Emergent Behavior of a Tendon Driven Anthropomorphic
Arm,” Vol. 2016–November. IEEE, 2016. https://doi.org/10.1109/IROS.2016.7759138.'
ieee: 'G. S. Martius, R. Hostettler, A. Knoll, and R. Der, “Compliant control for
soft robots: Emergent behavior of a tendon driven anthropomorphic arm,” presented
at the IEEE RSJ International Conference on Intelligent Robots and Systems IROS
, Daejeon, Korea, 2016, vol. 2016–November.'
ista: 'Martius GS, Hostettler R, Knoll A, Der R. 2016. Compliant control for soft
robots: Emergent behavior of a tendon driven anthropomorphic arm. IEEE RSJ International
Conference on Intelligent Robots and Systems IROS vol. 2016–November, 7759138.'
mla: 'Martius, Georg S., et al. Compliant Control for Soft Robots: Emergent Behavior
of a Tendon Driven Anthropomorphic Arm. Vol. 2016–November, 7759138, IEEE,
2016, doi:10.1109/IROS.2016.7759138.'
short: G.S. Martius, R. Hostettler, A. Knoll, R. Der, in:, IEEE, 2016.
conference:
end_date: 2016-09-14
location: Daejeon, Korea
name: 'IEEE RSJ International Conference on Intelligent Robots and Systems IROS '
start_date: 2016-09-09
date_created: 2018-12-11T11:50:45Z
date_published: 2016-11-28T00:00:00Z
date_updated: 2021-01-12T06:49:08Z
day: '28'
department:
- _id: ChLa
- _id: GaTk
doi: 10.1109/IROS.2016.7759138
language:
- iso: eng
month: '11'
oa_version: None
publication_status: published
publisher: IEEE
publist_id: '6121'
quality_controlled: '1'
scopus_import: 1
status: public
title: 'Compliant control for soft robots: Emergent behavior of a tendon driven anthropomorphic
arm'
type: conference
user_id: 3E5EF7F0-F248-11E8-B48F-1D18A9856A87
volume: 2016-November
year: '2016'
...