Antagonist Inhibition Control in Redundant Tendon-Driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids
Antagonist Inhibition Control in Redundant Tendon-Driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids
复制标题
基于人体相互神经支配的冗余肌腱驱动结构的拮抗剂抑制控制，用于肌肉骨骼类人动物的大范围肢体运动
DOI：
10.1109/lra.2017.2720854
复制
发表时间：
2017
影响因子：
5.2
通讯作者：
Masayuki Inaba
中科院分区：
文献类型：
--
作者：
Kento Kawaharazuka;Masaya Kawamura;Shogo Makino;Yuki Asano;Kei Okada;Masayuki Inaba
肌腱驱动的肌骨仿人机器人的身体结构复杂，其几何模型与实际机器人的差异很大，很难用几何模型表达复杂的肌腱绳路径。如果我们用几何模型的肌腱线长度来移动肌腱驱动的肌肉骨骼类人型机器人，就会出现意外的肌肉紧张和松弛。在某些情况下，这可能会导致实际机器人的残骸。为了解决这个问题，我们着眼于人类神经系统中的相互神经支配，然后实现了基于反射的拮抗剂抑制控制(AIC)。这种控制可以避免由于模型误差引起的不必要的内部肌肉张力和肌腱钢丝松弛，并可以长时间安全地进行大范围运动。为了验证其有效性，我们将AIC应用于肌腱驱动的肌肉骨骼类人机器人Kengoro的上肢，并成功地悬挂了14分钟并做了引体向上。
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a geometric model is very difficult. If we move a tendon-driven musculoskeletal humanoid by the tendon wire lengths of the geometric model, unintended muscle tension and slack will emerge. In some cases, this can lead to the wreckage of the actual robot. To solve this problem, we focused on reciprocal innervation in the human nervous system, and then implemented antagonist inhibition control (AIC)-based on the reflex. This control makes it possible to avoid unnecessary internal muscle tension and slack of tendon wires caused by model error, and to perform wide range motion safely for a long time. To verify its effectiveness, we applied AIC to the upper limb of the tendon-driven musculoskeletal humanoid, Kengoro, and succeeded in dangling for 14 min and doing pull-ups.
DOI：
10.1109/humanoids.2013.7029996
发表时间：
2013-10
期刊：
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
影响因子：
--
作者：
Yuki Asano;Takuma Shirai;Toyotaka Kozuki;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba
通讯作者：
Yuki Asano;Takuma Shirai;Toyotaka Kozuki;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba
影响因子：
5.7
作者：
S. Jacobsen;H. Ko;E. Iversen;C. C. Davis
通讯作者：
C. C. Davis
基于冗余肌张力的肌肉骨骼人形多自由度关节的关节空间控制器
DOI：
--
发表时间：
2016
期刊：
影响因子：
--
作者：
Masaya Kawamura;Soichi Ookubo;Yuki Asano;Toyotaka Kozuki;Kei Okada;Masayuki Inaba
通讯作者：
Masayuki Inaba