Michael Jäntsch

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— The human body was not designed by engineers and the way in which it is built poses enormous control problems. Its complexity challenges the ability of classical control theory to explain human movement as well as the development of human motor skills. It is our working hypothesis that the engineering paradigm for building robots places severe limitations(More)
— Major progress in robotics turns today's hu-manoid robots into ever safer, more robust, and more agile agents by the moment. However, it is still a long way until robots can safely operate in open environments. Especially in the area of service robotics, the need arises for robots to work flexibly in a human centered environment. One way towards this goal(More)
Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four(More)
—The control of tendon-driven robots using techniques from traditional robotics remains a very challenging task that has been so far only successfully achieved for small-scale setups comprising exclusively revolute joints [1, 2]. Hence, we propose a fundamentally different approach. Instead of deriving an analytical robot model using either the Newton-Euler(More)
—The control of tendon-driven and, in particular, of anthropomimetic robots using techniques from traditional robotics remains a very challenging task [1, 2]. Hence, we previously proposed to employ physics-based simulation engines to simulate the complex dynamics of this emerging class of robots [3] and to use the simulation model as an internal model for(More)
—In the long history of robotics research, the most prominent problem has always been, to develop robots that can safely operate in human-centered environments. One way towards the goal of a safe, and human-friendly robot, is to incorporate more and more of the flexibility that can be found in humans, by mimicking the internal mechanisms. In this work we(More)
—The soft robotics approach is widely considered to enable human-friendly robots which are able to work in our future homes and factories. Furthermore, achieving the smooth and natural movements of humans has become a hot topic in robotics, especially when robots are supposed to work in close proximity to humans. The anthropomimetic principle aims at(More)
— Musculoskeletal robots are a class of compliant, tendon-driven robots that can be used in robotics applications, as well as in the study of biological motor systems. Unfortunately , there is little progress in controlling such systems. Modern non-linear control approaches are used to overcome the challenges posed by the muscle compliance, the multi-DoF(More)
We present a semi-automatic design flow from Simulink models to prototypes of mixed hardware/software implementations of these models. Our work consists of three key contributions: (1) transformation of a functional model given in MATLAB/Simulink to the well-defined synchronous reactive model of computation (SR MoC), (2) an automatic SystemC code generation(More)