Tuning a robot servomotor to exhibit muscle-like dynamics
Tuning a robot servomotor to exhibit muscle-like dynamics
复制标题
调整机器人伺服电机以展现肌肉般的动力学
DOI：
10.1007/978-3-030-24741-6_22
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Quinn, R. D.
中科院分区：
文献类型：
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作者：
Szczecinski, N. S.;Goldsmith, C. A.;Young, F. R.;Quinn, R. D.
这项工作展示了一种调整机器人控制器的方法，使其以类似于昆虫腿关节的生物力学模型的方式执行。三个关键指标被认为是：作为拮抗输入的函数的联合的平衡角;扰动时的自由响应的动态;和主动运动的动态。我们将昆虫腿关节建模为铰链，其由一对对抗性线性Hill肌肉驱动，该肌肉驱动刚性远端腿段。来自外骨骼的被动力也被建模为被动粘弹性元件（PVE）。我们近似的参数值的模型的基础上的生物力学文献，然后动态缩放到我们的机器人，Drosophibot的规模。我们将展示如何调整伺服的控制映射和反馈增益，以模仿动物关节的动态缩放模型。
This work shows one way to tune a servomotor controller to make it perform in a similar way to a biomechanical model of an insect leg joint. Three key metrics were considered: the equilibrium angle of the joint as a function of antagonistic inputs; the dynamics of the free response when perturbed; and the dynamics of active motions. We model an insect leg joint as a hinge actuated by a pair of antagonistic linear Hill muscles that drive a rigid distal leg segment. Passive forces from the exoskeleton are also modeled as passive viscoelastic elements (PVE). We approximate parameter values for the model based on the biomechanics literature, and then dynamically scale them to the scale of our robot, Drosophibot. We show how to tune the servo’s control mapping and feedback gain to mimic the dynamically scaled model of the animal joint.