Adaptive neuromuscular control of a simplified muscle tendon-driven musculoskeletal system
文献类型：期刊论文
| 作者 | Fan, Yerui1,2; Wu, Yaxiong1; Yuan, Jianbo1 |
| 刊名 | ROBOTIC INTELLIGENCE AND AUTOMATION
 |
| 出版日期 | 2023-10-23 |
| 页码 | 13 |
| ISSN号 | 2754-6969 |
| 关键词 | Musculoskeletal system Adaptive neuromuscular control Tendon-driven robot Disturbance observer |
| DOI | 10.1108/RIA-03-2023-0027 |
| 通讯作者 | Fan, Yerui(fyr401245097@outlook.com) |
| 英文摘要 | Purpose -This study aims to improve the muscle model control performance of a tendon-driven musculoskeletal system (TDMS) to overcome disadvantages such as multisegmentation and strong coupling. An adaptive network controller (ANC) with a disturbance observer is established to reduce the modeling error of the musculoskeletal model and improve its antidisturbance ability.Design/methodology/approach- In contrast to other control technologies adopted for musculoskeletal humanoids, which use geometric relationships and antagonist inhibition control, this study develops a method comprising of three parts. (1) First, a simplified musculoskeletal model is constructed based on the Taylor expansion, mean value theorem and Lagrange-d'Alembert principle to complete the decoupling of the muscle model. (2) Next, for this simplified musculoskeletal model, an adaptive neuromuscular controller is designed to acquire the muscle-activation signal and realize stable tracking of the endpoint of the muscle-driven robot relative to the desired trajectory in the TDMS. For the ANC, an adaptive neural network controller with a disturbance observer is used to approximate dynamical uncertainties. (3) Using the Lyapunov method, uniform boundedness of the signals in the closed-loop system is proved. In addition, a tracking experiment is performed to validate the effectiveness of the adaptive neuromuscular controller.Findings- The experimental results reveal that compared with other control technologies, the proposed design techniques can effectively improve control accuracy. Moreover, the proposed controller does not require extensive considerations of the geometric and antagonistic inhibition relationships, and it demonstrates anti-interference ability.Originality/value -Musculoskeletal robots with humanoid structures have attracted considerable attention from numerous researchers owing to their potential to avoid danger for humans and the environment. The controller based on bio-muscle models has shown great performance in coordinating the redundant internal forces of TDMS. Therefore, adaptive controllers with disturbance observers are designed to improve the immunity of the system and thus directly regulate the internal forces between the bio-muscle models. |
| WOS关键词 | MOTION |
| 资助项目 | This work was supported in part by the Major Project of Science and Technology Innovation 2030-Brain Science and Brain-Inspired Intelligence under Grant 2021ZD0200408, in part by the National Natural Science Foundation of China (NSFC) under Grant 91948303[2021ZD0200408] ; National Natural Science Foundation of China (NSFC)[91948303] ; National Natural Science Foundation of China (NSFC)[91648205] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDB32050100] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| 出版者 | EMERALD GROUP PUBLISHING LTD |
| WOS记录号 | WOS:001085362100001 |
| 资助机构 | This work was supported in part by the Major Project of Science and Technology Innovation 2030-Brain Science and Brain-Inspired Intelligence under Grant 2021ZD0200408, in part by the National Natural Science Foundation of China (NSFC) under Grant 91948303 ; National Natural Science Foundation of China (NSFC) ; Strategic Priority Research Program of the Chinese Academy of Sciences |
| 源URL | [http://ir.ia.ac.cn/handle/173211/52990]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Fan, Yerui |
| 作者单位 | 1.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Fan, Yerui,Wu, Yaxiong,Yuan, Jianbo. Adaptive neuromuscular control of a simplified muscle tendon-driven musculoskeletal system[J]. ROBOTIC INTELLIGENCE AND AUTOMATION,2023:13. |
| APA | Fan, Yerui,Wu, Yaxiong,&Yuan, Jianbo.(2023).Adaptive neuromuscular control of a simplified muscle tendon-driven musculoskeletal system.ROBOTIC INTELLIGENCE AND AUTOMATION,13. |
| MLA | Fan, Yerui,et al."Adaptive neuromuscular control of a simplified muscle tendon-driven musculoskeletal system".ROBOTIC INTELLIGENCE AND AUTOMATION (2023):13. |
入库方式： OAI收割
来源：自动化研究所
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