Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties
Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties
复制标题
具有可变阻尼和弹性特性的六块肌肉驱动的两连杆臂的任务空间反馈控制
DOI：
10.1109/robot.2005.1570123
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
H. Kino
中科院分区：
文献类型：
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作者：
K. Tahara;Zhiwei Luo;S. Arimoto;H. Kino
众所周知，人体肌肉骨骼系统在运动学和动力学方面都是冗余的。前者是指关节空间的自由度大于任务空间的自由度，后者是指一个关节由多块肌肉驱动。人类所有的熟练动作都可以通过使用这两种冗余来完成。然而，这些冗余诱导潜在的不适定性问题，每个关节角度和肌肉的输出力不能被唯一地确定。这些不适定性问题被称为“伯恩斯坦问题”，对于理解人类多关节运动是如何产生的非常重要。在这项研究中，我们解决了后者的冗余问题，肌肉的输出力如何可以确定从机器人的观点。在本文中，我们认为达到运动通过一个两连杆平面臂与六块肌肉，并表明来自肌肉的非线性动力学的阻尼和弹性性能起着至关重要的作用。通过使用一个简单的任务空间反馈控制输入加上一个额外的长期来控制内力调节阻尼和弹性在关节空间，我们展示了一些模拟结果，表现出类人的准直线运动。
It is well-known that a human musculo-skeletal body is redundant in terms of both kinematics and dynamics. The former means that the degree of freedom in joint space is larger than that in task space, and the latter means that a joint is driven by a number of muscles. All human skillful movements can be performed by using both redundancies. However, these redundancies induce the underlying ill-posedness problem that each joint angle and muscle’s output forces cannot be uniquely determined. These ill-posedness problems are known as “Bernstein’s problem” and are important to understand how human multi-joint movements are produced. In this study, we address the latter redundancy problem on how muscle’s output forces can be determined from the viewpoint of robotics. In this paper, we consider a reaching movement by means of a two-link planar arm with six muscles and show that both damping and elastic properties coming from nonlinear dynamics of the muscles play a crucial role. By using a simple task space feedback control input together with an additional term to control the internal force to regulate damping and elasticity in joint space, we show some simulation results which exhibit human-like quasi-straight line movement.