Motion generation of redundant musculoskeletal humanoid based on robot-model error compensation by muscle load sharing and interactive control device
Motion generation of redundant musculoskeletal humanoid based on robot-model error compensation by muscle load sharing and interactive control device
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DOI：
10.1109/humanoids.2013.7029996
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
Yuki Asano;Takuma Shirai;Toyotaka Kozuki;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba
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文献类型：
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作者：
Yuki Asano;Takuma Shirai;Toyotaka Kozuki;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba
肌肉骨骼类人会因为肌肉的弹性或伸长而产生机器人模型误差。这导致关节位置控制的精度和重复性较低。尤其是在高负荷运动时，这是一个严重的问题。在本文中，我们提出并实现了机器人模型误差情况下的运动补偿方法。提出的一种控制方法是一种肌肉负荷分担方法，该方法利用肌肉骨骼类人特有的冗余肌肉排列。另一种是交互式控制系统，能够利用人类的物理或视觉信息进行交互式关节位置修改。最后，通过集成两个系统对几种运动进行了测试。
Musculoskeletal humanoid has robot-model errors because of muscle elasticity or elongation. This leads to low accuracy and repeatability in joint position control. In particular, this is a serious problem during high-load motions. In this paper, we propose and implement its compensation methods for generating motions in the presence of robot-model errors. One of the control methods presented is a muscle-load sharing method utilizing redundant muscle arrangement which is specific in musculoskeletal humanoid. The other is an interactive control system enabling interactive joint position modification by using human physical or visual information. Finally, we tested several motions by integrating the two systems.