Description
Maximum1 is a humanoid manipulator, fully actuated through McKibben muscles organized in a biomimetic structure.
It features an arm with 4 degrees of freedom, a wrist with 2 degrees of freedom, a neck with 3 degrees of freedom, and a human like hand. Each actuator hosts a position and a force sensor; an angular sensor is on the elbow, and a vision system in the head.
The software is implemented in Matlab 7.0 and Simulink. The program is executed on 2 computers, the target PC and the user PC. Position and torque for each joint are controlled by an A/D acquisition board, namely PCL-812 PG in the Target PC. The muscle lengths are computed on the host PC by the inverse kinematics and sent to the power interface that controls the electrovalves.
