INTELLIGENT CONTROL OF TENDON-DRIVEN ROBOTIC MECHANISMS.

肌腱驱动机器人机构的智能控制。

• 批准号: 15560225
• 负责人: KOBAYASHI Hiroaki
• 金额: $ 2.3万
• 依托单位: SCHOOL OF SCIENCE AND TECHNOLOGY, MEIJI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560225/
• 关键词: TENDON; FORCE; POSITION HYBRID CONTROL; NEURAL NETWORK CONTROL; GA; JOINT STIFFNESS; BIPED ROBOT; STRUCTURAL ANALYSIS; FPGA; ニューラルネットワーク制御; 腱駆動2足歩行ロボット; 腰軌道の生成; 非線形弾性テンショナー; 強度計算; 位置。力ハイブリッド制御; 厳密な入出力線形化; 適応制御; 機構解析; 腱駆動ロボット機構; 関節空間直交化法

Tendon-driven mechanisms can be adjust the mechanical joint stiffness independently of the joint torques and robust for the stimulus disturbance forces. Therefore they are suitable for force-related tasks, while the control is very difficult due to the nonlinear elasticity. This project had two subprojects related to the feature. One of them is to develop intelligent controller for tendon-driven robotic mechanisms and the other is to develop a tendon-driven biped robot, to absorb the strong shock when the swing leg touches with the ground.For the intelligent control, we investigated (A) design stabilizing controllers for tendon-driven robotic mechanisms and (B) the optimization of the joint stiffness for given tasks. For (A), we developed ANN controllers composed of one adaptive module and two neural networks and proved the UBB of the desired force/position trajectories. For (B), we optimized the joint stiffness using GA for three tasks ; ball hitting, ball receiving, desired force tracking, and walking.We developed a tendon-driven biped robot. It has almost same size as a higher-class elementary school student. Each leg has 6 DOF and the knee joint and two ankle joints are driven with 6 tendons. Furthermore a newly designed nonlinear spring tensioning device (NST) is attached at the end of the tendons. This makes it possible to adjust the mechanical joint stiffness semi-actively and guarantees the robustness for the impulsive reaction forces from the ground. Other feature is the asymmetric joint torque allocation at the knee joint. Namely we used three tendons to expand the knee and only one tendon to bend it. The structure was designed using a commercial available structural analysis software. A FPGA-based control system was designed.GA was used to optimize the joint stiffness during walking. Simulation results showed this scheme would work well.

腱驱动机构可以独立于关节力矩调节机械关节的刚度，对激励扰动力具有较强的鲁棒性。因此，它们适合于与力有关的任务，但由于其非线性弹性，控制非常困难。该项目有两个与该功能相关的子项目。一是开发肌腱驱动机器人机构的智能控制器，二是开发一种肌腱驱动的双足机器人，以吸收摆动腿与地面接触时的强烈冲击。对于智能控制，我们研究了(A)腱驱动机器人机构的稳定控制器的设计和(B)给定任务的关节刚度的优化。对于(A)，我们设计了由一个自适应模块和两个神经网络组成的神经网络控制器，并证明了期望的力/位置轨迹的UBB。对于(B)，我们使用遗传算法优化了击球、接球、期望的力跟踪和行走三个任务的关节刚度。我们开发了一个肌腱驱动的两足机器人。它的大小几乎和高年级的小学生一样大。每条腿有6个自由度，膝关节和两个脚踝关节由6个肌腱驱动。此外，新设计的非线性弹簧张拉装置(NST)安装在肌腱的末端。这使得机械关节刚度的半主动调整成为可能，并保证了对地面冲击反作用力的鲁棒性。另一个特点是膝关节扭矩分配不对称。也就是说，我们用三根肌腱来扩张膝盖，只用一根肌腱来弯曲它。该结构是使用商用结构分析软件设计的。设计了一种基于现场可编程门阵列的控制系统，采用遗传算法对行走过程中的关节刚度进行优化。仿真结果表明，该方案效果良好。

项目成果

腱駆動ロボットの知的制御一位置・力ハイブリッドANN制御

腱驱动机器人智能控制——位置/力混合ANN控制

• 发表时间: 2005
• 期刊: 明治大学科学技術研究所紀要 43・4
• 作者: 小林博明;朴 贄逸
• 通讯作者: 朴 贄逸

Intelligent Control of Tendon-Driven Robots - Force/Position Hybrid Control-

腱驱动机器人的智能控制-力/位置混合控制-

• 发表时间: 2005
• 期刊: Meiji University 43-4
• 作者: Hiroaki Kobayashi;Chan Il Park
• 通讯作者: Chan Il Park

Joint Stiffness optimization of Robotic Arms with Adjustable Joint Elasticity for Force/Position Hybrid Control

用于力/位置混合控制的可调节关节弹性机械臂的关节刚度优化

• 发表时间: 2006
• 期刊: Proc. of Movic 206 (未定)
• 作者: Chan H Park;Hiroaki Kobayashi
• 通讯作者: Hiroaki Kobayashi

Force/Position Hybrid Control for Geometrically Constrained Tendon-Driven Flexible Joint Robot

几何约束腱驱动柔性关节机器人的力/位置混合控制

• 发表时间: 2004
• 期刊: Proc.of 2003 Int.Symp.on Advanced Intelligent Systems, Stuttgart
• 作者: Chan Il Park;Hiroaki Kobayashi
• 通讯作者: Hiroaki Kobayashi

Adaptive Neural Network Control of Tendon-Driven Mechanism with Elastic Tendons

弹性筋腱驱动机构的自适应神经网络控制

• 发表时间: 2003
• 期刊: Automatica 39-9
• 作者: Hiroaki Kobayashi;Ryuta Ozawa
• 通讯作者: Ryuta Ozawa