Abstract
Cable-driven robots have been studied in recent years due to its unique characteristics and advantages. In particular, CDPMs have been regarded as bio-inspired mechanisms that are structurally analogous to musculoskeletal systems, where the rigid links and cables are analogous to the bones and muscles, respectively. A unique characteristic of cable-driven manipulators is that cables can only be actuated unilaterally through tension and not compression.
In this presentation, the relationship between anthropomimetic musculoskeletal robots and humans will be explored. From modelling, dynamics, control and workspace analysis, there exists many difficult challenges common to both types of systems. Simulations of example systems that will be presented include those inspired by the human neck and shoulder complex. Finally, the potential applications of such techniques within the study of human motion and rehabilitation are also discussed.
Bio
Darwin Lau received Bachelor of Engineering (mechatronics) and Bachelor of Computer Science degrees from the University of Melbourne, Australia, in 2008, and the Ph.D degree in mechanical engineering, robotics, in 2014, from the University of Melbourne. His PhD focused on the study of anthropomorphic musculoskeletal systems as cable-driven robots. Currently, he is a postdoctoral research fellow at ISIR, Universite Pierre et Marie Curie, Paris, France, on the ROMEO2 project with Aldebaran. His research interests include kinematics and dynamics of complex robotic mechanisms, redundantly actuated and cable-driven manipulators, and bio-inspired mechanisms.