Bio-mimetic impedance control of robotic manipulator for dynamic contact tasks
Bio-mimetic impedance control of robotic manipulator for dynamic contact tasks
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DOI：
10.1016/j.robot.2007.09.001
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发表时间：
2008-04
期刊：
影响因子：
--
通讯作者：
T. Tsuji;Yoshiyuki Tanaka
中科院分区：
文献类型：
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作者：
T. Tsuji;Yoshiyuki Tanaka
人类通过根据所涉及的任务调整他或她的肌肉骨骼系统的动态特征来执行各种熟练的动作。人体运动的这种特性可以用机械阻抗参数来描述。如果能够明确和建模人类在任务过程中阻抗特性的调节机制，那么人类的巧妙策略就有可能被整合到机器人运动控制中。本文研究了在虚拟接球任务中，准备任务操作的人的手阻抗，即所谓的“任务准备阻抗”。通过使用测量的任务准备好的阻抗，通过计算机仿真，进一步讨论了机器人接触任务的仿生阻抗控制。
A human performs a variety of skillful movements by adjusting dynamic characteristics of his or her musculoskeletal system according to a task involved. Such characteristics of human movements can be described by mechanical impedance parameters. If the regulation mechanism of human impedance properties during the task can be clarified and modeled, there is a possibility that human skillful strategies can be integrated into robot motion control. This paper investigates human hand impedance in preparation for task operations, the so-called “task-readiness impedance”, in a virtual ball-catching task. It further discusses a bio-mimetic impedance control of robotic manipulators for contact tasks via computer simulations using measured task-readiness impedance.