Control Method of Robot Actuated Antagonisticaly

人的手和/或腿的灵巧操作和运动功能是通过拮抗驱动的肌肉骨骼系统的精细控制来实现的。这个项目的动机是将这一原理引入机器人机构。在以下四个子项目中取得了新的成果。双足运动系统的研究。用一个刚体和两条无质量腿组成的简单模型模拟了人在启动和停止阶段的行走动力学。结果显示出与实验结果相似的特征。零力矩点的概念被扩展到关节力矩来模拟病理步态或机器人行走。计算了各种稳定特性。机器人系统的自适应控制。轻结构设计往往导致连杆系统刚度低，在快速动态控制中存在严重问题。在弹性倒立摆和柔性机械臂的位置控制中，验证了自适应控制的有效性。操纵的研究。研究了两根手指或两个棱镜机器人对刚体的处理：抓握刚体；抓取身体的翻译。在理论公式中有效地引入了螺杆坐标系。在一项实验研究中，使用了一种对抗机器人系统。远程操作支持系统。远程操作的人机系统需要计算机提供各种支持。通过计算机仿真研究了支撑系统的可行性。

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.