Equilibrium-Point Control and Robustness Analysis of Bioinspired Musculoskeletal Robotic System
文献类型：期刊论文
| 作者 | Wu, Yaxiong4,5; Yuan, Jianbo4,5; Qiao, Hong1,2,3,4
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2023-10-09 |
| 页码 | 11 |
| 关键词 | Bioinspired equilibrium-point control Lyapunov stability muscle model musculoskeletal robotics robustness |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2023.3319350 |
| 通讯作者 | Qiao, Hong(hong.qiao@ia.ac.cn) |
| 英文摘要 | Compared to general joint-link robotic systems, bioinspired musculoskeletal robotic systems provide more potential advantages in terms of robustness, flexibility, and operation accuracy. Research on bioinspired control and structure has been a hot topic in recent years, indicating that musculoskeletal robots are a promising option for next-generation robots. However, standard modeling and analysis of the system are scarce; therefore, controller design and stability proof are still open questions. Based on previous studies, we built the standardized state-space equations for musculoskeletal robotic dynamics. The robustness was proved through muscle contractile dynamics and the Lyapunov stability theorem. Furthermore, a bioinspired equilibrium-point (EP) controller was designed to realize high-precision target-reaching tasks that required low control frequency and computation cost. Simulations and experiments were conducted to demonstrate the conclusions of the theoretical analysis. The effectiveness and anti-interference abilities of the EP controller were initially verified. This study provides a promising direction for motion control in bioinspired musculoskeletal robotic systems. A relatively complete system model was established, and a preliminary controller design and proof framework was proposed, which offers a reference for research and applications of musculoskeletal robotic systems. |
| WOS关键词 | REACHING MOVEMENTS ; MUSCLE ; FORCE ; MODEL ; CONTRACTION ; HYPOTHESIS ; DYNAMICS ; HEAT |
| 资助项目 | Science and Technology Innovation 2030-Brain Science and Brain-Inspired Intelligence |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001166478100001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Science and Technology Innovation 2030-Brain Science and Brain-Inspired Intelligence |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55637]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Qiao, Hong |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Beijing Key Lab Res & Applicat Robot Intelligence, Beijing 100190, Peoples R China 5.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing 100083, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wu, Yaxiong,Yuan, Jianbo,Qiao, Hong. Equilibrium-Point Control and Robustness Analysis of Bioinspired Musculoskeletal Robotic System[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:11. |
| APA | Wu, Yaxiong,Yuan, Jianbo,&Qiao, Hong.(2023).Equilibrium-Point Control and Robustness Analysis of Bioinspired Musculoskeletal Robotic System.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11. |
| MLA | Wu, Yaxiong,et al."Equilibrium-Point Control and Robustness Analysis of Bioinspired Musculoskeletal Robotic System".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):11. |
入库方式： OAI收割
来源：自动化研究所
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