Controlling a system with redundant degrees of freedom:: II.: Solution of the force distribution problem without a body model
Controlling a system with redundant degrees of freedom:: II.: Solution of the force distribution problem without a body model
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DOI：
10.1007/s00359-008-0348-9
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发表时间：
2008-08-01
影响因子：
2.1
通讯作者：
Cruse, Holk
中科院分区：
文献类型：
--
作者：
Levy, Jeremy;Cruse, Holk
昆虫在控制冗余自由度时可能会使用什么策略？我们调查这个问题，在站立的竹节虫。具体地说，问题是解决如何的扭矩的变化是协调所产生的18个腿关节在一个仍然站立的动物。使用概括的主成分分析，三个协调规则已被确定。这些规则足以描述数据中观察到的一半以上的变化。为了从描述性的方法，假设神经元系统可能是如何构造的，提出了两种模拟方法。在这两种情况下，扭矩都通过随机选择的值减小。在第一个模拟中，来自主成分的协调规则用于产生转矩的变化。在第二次模拟中，使用简单的局部方法修改各个关节扭矩。在这两种方法中，所产生的扭矩由应用于每个关节的积分控制器重新调整。结果表明，扭矩分配问题可以解决的局部方法，而不需要身体模型。
What strategies may insects use when controlling redundant degrees of freedom? We investigate this question in standing stick insects. Specifically, the question is addressed how the changes of the torques are coordinated that are produced by the 18 leg joints in a still standing animal. Using a generalization of the principal component analysis, three coordination rules have been identified. These rules are sufficient to describe more than half of the variation observed in the data. To move from a descriptive approach to hypotheses on how the neuronal system may be structured, two simulation approaches are proposed. In both cases, torques are decreased by randomly selected values. In the first simulation, the coordination rules derived from the principal components are used to produce changes in torques. In the second simulation, the individual joint torques are modified using a simple local approach. In both approaches, the resulting torques are readjusted by Integral controllers applied in each joint. The results show that the torque distribution problem can be solved by a local approach without requiring a body model.