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Anti-interference analysis of bio-inspired musculoskeletal robotic system q

文献类型：期刊论文

作者Wu, Yaxiong2,3; Chen, Jiahao1,4; Qiao, Hong1,4,5
刊名NEUROCOMPUTING
出版日期2021-05-14
卷号436页码:114-125
关键词Musculoskeletal system Biologically inspired Muscle model
ISSN号0925-2312
DOI10.1016/j.neucom.2021.01.054
通讯作者Qiao, Hong(hong.qmo@ia.ac.cn)
英文摘要Compared with general joint-link robotic systems, bio-inspired musculoskeletal robotic systems offer the advantages of higher robustness, flexibility, and redundancy. Hence, they are a promising option for the development of next-generation robots. However, theoretical analysis regarding the superiorities of mus-culoskeletal systems is scarce. This study analyzes and proves the anti-interference of a musculoskeletal system both mathematically and experimentally. a) A new method to calculate the control signals of a highly nonlinear and deeply coupled musculoskeletal system is proposed, and the redundancy range is provided. The result shows that each movement of the system can be realized by multiple control signals in a subspace. b) The anti-interference to control signals caused by the nonlinear driving mechanism of muscles and the cou-pled feedback effect of the skeletal system are analyzed. The simulation results prove that the bio-inspired musculoskeletal robotic arm has a smaller tracking error than the joint-link robotic arm under the same perturbations of the control signals. T he theoretical analysis is consistent with the simulation results, thereby providing a theoretical refer-ence for the application of bio-inspired musculoskeletal robotic systems. (c) 2021 Elsevier B.V. All rights reserved.
资助项目National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China (NSFC)[61627808] ; National Natural Science Foundation of China (NSFC)[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:000632805900011
出版者ELSEVIER
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China (NSFC) ; Strategic Priority Research Program of Chinese Academy of Science
源URL[http://ir.ia.ac.cn/handle/173211/44119]  
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
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China
3.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing 100049, Peoples R China
4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
5.CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China
推荐引用方式
GB/T 7714		 Wu, Yaxiong,Chen, Jiahao,Qiao, Hong. Anti-interference analysis of bio-inspired musculoskeletal robotic system q[J]. NEUROCOMPUTING,2021,436:114-125.
APA Wu, Yaxiong,Chen, Jiahao,&Qiao, Hong.(2021).Anti-interference analysis of bio-inspired musculoskeletal robotic system q.NEUROCOMPUTING,436,114-125.
MLA Wu, Yaxiong,et al."Anti-interference analysis of bio-inspired musculoskeletal robotic system q".NEUROCOMPUTING 436(2021):114-125.

入库方式： OAI收割

来源：自动化研究所

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