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Realizing human-like manipulation with a musculoskeletal system and biologically inspired control scheme

文献类型：期刊论文

作者Chen, Jiahao1,4,5; Zhong, Shanlin2,4,5; Kang, Erlong2,4,5; Qiao, Hong2,3,4; Hong Qiao; Jiahao Chen; Erlong Kang; Shanlin Zhong
刊名NEUROCOMPUTING
出版日期2019-04-28
卷号339页码:116-129
关键词Human-like manipulation Musculoskeletal system Biologically inspired Muscle synergy Attractive region in environment
ISSN号0925-2312
DOI10.1016/j.neucom.2018.12.069
通讯作者Qiao, Hong(hong.qiao@ia.ac.cn)
英文摘要Human can accomplish manipulation with high precision, flexibility and robustness. As a musculoskeletal system naturally possesses superiorities of flexibility and robustness, realizing human-like manipulation with the musculoskeletal system is investigated in this paper. However, the redundancy, coupling and strong nonlinearity of musculoskeletal system will bring many challenges for control. Therefore, based on strategies of human manipulation and muscle coordination, a biologically inspired control scheme is proposed. First, we apply a strategy based on attractive region in environment to plan the manipulation under environmental constraints in the task space. Then, we extract muscle synergies as movement primitives and design an iterative learning controller to coordinate these synergies to accomplish complex manipulation. The muscle synergy based iterative learning controller can overcome the difficulty of constructing an explicit model of the sophisticated musculoskeletal system and improve motion learning by transforming the high dimensional muscle excitation into a lower dimensional space. With the combination of strategy based on attractive region in environment and muscle synergy based controller, we preliminarily realize human-like manipulation with high precision, flexibility and robustness. The effectiveness of our control scheme is verified in a peg-in-hole assembly task. (C) 2019 Elsevier B.V. All rights reserved.
WOS关键词MUSCLE SYNERGIES ; DYNAMIC SIMULATIONS ; ATTRACTIVE REGION ; ARM ; CONSTRUCTION ; MOVEMENT ; SOFTWARE ; MODEL
资助项目National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91648205] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32000000]
WOS研究方向Computer Science
语种英语
WOS记录号WOS:000461166500012
出版者ELSEVIER SCIENCE BV
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science
源URL[http://ir.ia.ac.cn/handle/173211/24960]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Qiao, Hong; Hong Qiao
作者单位1.Chinese Acad Sci, Inst Automat, Res Ctr Brain Inspired Intelligence, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
5.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Chen, Jiahao,Zhong, Shanlin,Kang, Erlong,et al. Realizing human-like manipulation with a musculoskeletal system and biologically inspired control scheme[J]. NEUROCOMPUTING,2019,339:116-129.
APA Chen, Jiahao.,Zhong, Shanlin.,Kang, Erlong.,Qiao, Hong.,Hong Qiao.,...&Shanlin Zhong.(2019).Realizing human-like manipulation with a musculoskeletal system and biologically inspired control scheme.NEUROCOMPUTING,339,116-129.
MLA Chen, Jiahao,et al."Realizing human-like manipulation with a musculoskeletal system and biologically inspired control scheme".NEUROCOMPUTING 339(2019):116-129.

入库方式： OAI收割

来源：自动化研究所

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