Structure transforming for constructing constraint force field in musculoskeletal robot
文献类型：期刊论文
| 作者 | Zhong, Shanlin2 ; Chen, Ziyu1,2; Zhou, Junjie2
|
| 刊名 | ASSEMBLY AUTOMATION
 |
| 出版日期 | 2021-12-01 |
| 页码 | 12 |
| 关键词 | High precision Attractive region in environment Constraint force field Musculoskeletal robot |
| ISSN号 | 0144-5154 |
| DOI | 10.1108/AA-07-2021-0093 |
| 通讯作者 | Zhong, Shanlin(zhongshanlin2016@ia.uc.cn) |
| 英文摘要 | Purpose Human-like musculoskeletal robots can fulfill flexible movement and manipulation with the help of multi joints and actuators. However, in general, sophisticated structures, accurate sensors and well-designed control are all necessary for a musculoskeletal robot to achieve high-precision movement. How to realize the reliable and accurate movement of the robot under the condition of limited sensing and control accuracy is still a bottleneck problem. This paper aims to improve the movement performance of musculoskeletal system by bio-inspired method. Design/methodology/approach Inspired by two kinds of natural constraints, the convergent force field found in neuroscience and attractive region in the environment found in information science, the authors proposed a structure transforming optimization algorithm for constructing constraint force field in musculoskeletal robots. Due to the characteristics of rigid-flexible coupling and variable structures, a constraint force field can be constructed in the task space of the musculoskeletal robot by optimizing the arrangement of muscles. Findings With the help of the constraint force field, the robot can complete precise and robust movement with constant control signals, which brings in the possibility to reduce the requirement of sensing feedback during the motion control of the robot. Experiments are conducted on a musculoskeletal model to evaluate the performance of the proposed method in movement accuracy, noise robustness and structure sensitivity. Originality/value A novel concept, constraint force field, is proposed to realize high-precision movements of musculoskeletal robots. It provides a new theoretical basis for improving the performance of robotic manipulation such as assembly and grasping under the condition that the accuracy of control and sensory are limited. |
| WOS关键词 | COORDINATION ; TASKS ; HOLE ; PEG |
| 资助项目 | National Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[91948303] ; Strategic Priority Research Program of the Chinese Academy of Science[XDB32050100] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000724204600001 |
| 出版者 | EMERALD GROUP PUBLISHING LTD |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Science |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46539]  |
| 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 | Zhong, Shanlin |
| 作者单位 | 1.Univ Sci & Technol China, Dept Automat, Hefei, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhong, Shanlin,Chen, Ziyu,Zhou, Junjie. Structure transforming for constructing constraint force field in musculoskeletal robot[J]. ASSEMBLY AUTOMATION,2021:12. |
| APA | Zhong, Shanlin,Chen, Ziyu,&Zhou, Junjie.(2021).Structure transforming for constructing constraint force field in musculoskeletal robot.ASSEMBLY AUTOMATION,12. |
| MLA | Zhong, Shanlin,et al."Structure transforming for constructing constraint force field in musculoskeletal robot".ASSEMBLY AUTOMATION (2021):12. |
入库方式： OAI收割
来源：自动化研究所
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