Constructing Constraint Force Field in Musculoskeletal Robot by Co-optimizing Muscle Arrangements and Constant Activations
文献类型:会议论文
作者 | Zhong SL(钟汕林)1,2; Zhou JJ(周俊杰)1,2; Wu W(吴伟)1,2 |
出版日期 | 2022-07-18 |
会议日期 | 2022-7-18 |
会议地点 | PADUA,Italy |
关键词 | Musculoskeletal robot Constraint Force Field High precision Control Schemes of robot |
英文摘要 | Robots with high-precision motion and operation ability are of great application significance. By referring to the biomechanical structure and neural control mechanism of human motion system, the research of musculoskeletal robot system with rigid-flexible coupling characteristics is one of the important ways to improve the operation flexibility and control robustness of robot. Inspired by the equilibrium point hypothesis proposed in neuroscience, this paper proposes a co-optimization algorithm of muscle arrangement and activation to construct constraint force field in the workspace of musculoskeletal robot. When the muscle arrangement is rough due to the insufficient precision of the mechanical structure, the musculoskeletal robot can maintain accurate motion with the help of constraint force field by adopting the optimized constant activation. Experiments are carried out on a musculoskeletal robot model with human-mimetic muscle to demonstrate the effectiveness of the proposed algorithm in movement accuracy, noise robustness and generalization. This work may be of great significance for the further introduction of constraint force field into hardware system of musculoskeletal robot. |
语种 | 英语 |
源URL | [http://ir.ia.ac.cn/handle/173211/48644] |
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 | Wu W(吴伟) |
作者单位 | 1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Management and Control for Complex System, Institute of Automation, Chinese Academy of Science, Beijing 100190, China |
推荐引用方式 GB/T 7714 | Zhong SL,Zhou JJ,Wu W. Constructing Constraint Force Field in Musculoskeletal Robot by Co-optimizing Muscle Arrangements and Constant Activations[C]. 见:. PADUA,Italy. 2022-7-18. |
入库方式: OAI收割
来源:自动化研究所
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