Internal impedance control helps information gain in embodied perception
Internal impedance control helps information gain in embodied perception
复制标题
内部阻抗控制有助于体现感知中的信息增益
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
T. Nanayakkara
中科院分区：
文献类型：
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作者：
Nantachai Sornkarn;M. Howard;T. Nanayakkara
内部阻抗是决定生物有机体和机器人中具身感知和动作质量的关键因素之一。虽然阻抗控制在机器人驱动中的作用已经得到了很好的研究，但其在本体感觉精度方面的意义还不为人所知。因此，重要的是表征传感器信息的熵与其物理体现的阻抗之间的关系，传感器通过该阻抗感受身体和环境的内部状态。在本文中，我们解决的作用，内阻抗的准确性体现的看法。为了研究这一点，我们提出的问题，仅使用扭矩数据测量的两个链接平面机械手的固定基地，估计由外部扭矩在McKibben型枢轴关节与变刚度引起的偏转。本文在分析建模和实验验证的基础上，首次提出了与内阻抗、内运动变量、以及在操纵器基部感受到的力-类似于生物对应物的肌腱器官的功能-可用于调谐最佳内部阻抗参数，以在外部扰动期间最大化内部状态估计的准确性。
Internal impedance is one of the key factors determining the quality of embodied perception and action in biological organisms and robots. Though the role of impedance control in robotic actuation has been well studied, its significance in the accuracy of proprioception with embodied sensors is not well known yet. Therefore, it is important to characterize the relationship between the entropy of sensor information and the impedance of their physical embodiment, through which sensors feel the internal state of the body and the environment. In this paper, we address the role of internal impedance in the accuracy of embodied perception. To investigate this, we pose the problem of using only torque data measured at the stationary base of a two link planar manipulator, to estimate the deflection caused by an external torque in the McKibben type pivot joint with variable stiffness. Based on analytical modelling and experimental validation, this paper presents, for the first time, that non-linear static memory primitives relating internal impedance, internal kinematic variables, and forces felt at the base of the manipulator - similar to the functionality of tendon organs of biological counterparts - can be used to tune optimal internal impedance parameters to maximize the accuracy of internal state estimation during external perturbations.