Control Method of Robot Actuated Antagonisticaly

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The function of dexterious manipulations and locomotion by human hands and/or legs is realized by fine controls of muscular-skeleton systems that are actuated antagonistically. This project was motivated to introduce this principle into robotic mechanisms. New results have been obtained in four sub-projects as follows.1. Stuby of bipedal locomotion systems. Dynamics of human walking in the starting and stopping phases were simulated by a simple model consisting of a rigid body and two massless legs. The results have shown the characteristics similar to the experimental findings. The idea of the zero-moment point was extended to a joint moment to simulate a pathological gait or robotic walking. Various steaby characteristics were calculated.2. Adaiptive control of robotic systems. Link systems of a low rigidity resulted often from light structural design produce serious problems in a rapid dynamic controls. Effectiveness of an adaptive control was shown in the position control of an elastic inverted pendulum and a flexible robotic arm.3. Study of manipulation. Handling of a rigid body by two fingers or two prismatic robots was studied: grasping a body; translation of a grasped body. In a theoretical formulation the screw coordinate systems were effectively introduced. in an experimental study an antagonistic robotic system was used.4. Supporting system for teleoperation. Human operator in a man-machine system of a teleoperation needs various supports supplied by computers. Xomputer simulations were carried to study a feasibility of a supporting system.