SELF-ORGANIZATION AND FUNCTION FORMATION ON MOTION AND/ACTION CONTROL

让我们想象一下钢琴家非凡的手指动作，足球运动员的动态姿态，以及陶艺家的手部动作。他们动作的复杂性和灵巧性值得极大的钦佩。然而，我们更欣赏的是它们在同一个身体上产生的动作的多样性和灵活性，以及对周围环境的适应性。这些运动/动作是由什么机制控制的？我们的身体是一个非常冗余的系统，具有一百多个关节自由度和复杂的非线性动力学系统。因此，为了实现流畅和灵巧的运动，这些多余的自由度必须以某种形式受到约束。例如，当我们伸手拿起杯子时，我们根据杯子的大小和形状以及握柄的存在将手指按顺序放入适合它的形状。此外，我们根据杯子的重量预设手腕和其他关节的刚度。此外，在目前 ...更多信息 当足球运动员射门时，他像弓一样将他的身体拉到最大，并且围绕枢转的脚的关节产生麦克斯韦定向阻抗（粘弹性）。因此，在熟练的动作中，已经根据运动的目标和对象的特性预设了身体的自由度和阻抗。日常生活中常用的“摆姿势”和“保持良好的姿态”直接代表了这一点。本研究从冗余自由度问题出发，给出了熟练动作控制的自组织和功能形成方法。我们得到了以下结果。1)面向任务的感觉-运动地图的自组织，2）基于视觉信息的手部预成形的分层内部表示方法，3）姿势控制和双手控制期间的手臂阻抗识别，4）节奏运动对环境变化的适应的数学模型，5）基于人工神经网络的逆运动学和动力学地图的学习，7）基于被动速度场控制（PVFC）的多机械手系统分布式协调控制。8)基于重复学习的机器人阻抗学习。少

Let's imagine the phenomenal finger movements of a pianist, the dynamic carriage of a soccer playr, and the hand movements of a potter. The complexity and dexterity of their motions are worthy of great admiration. However, we feel more admiration for the diversity and flexibility of their motions produced from the same body and the adaptability to its surroundings. By what mechanisms are these motions/actions controlled? Our body is a very redundant system having more than one hundred joint degrees of freedom and a complex non-linear dynamic system. As a consequence, to achieve smooth and dexterous movements, these redundant degrees of freedom must be constrained in one form or another.For example, when reaching our hand to pick up a cup, we put our fingers in order into the shape suitable for it, depending on the size and shape of cup and presence of its grip. In addition, we preset the stiffness of the wrist and other joints depending on the weight of the cup. Moreover, in the moment … More that a soccer playr shoot a ball, he draws his body to the full like a bow and presets well-directed impedance (visco-elasticity) about the joint of a pivoting foot. In skilled actions, thus, the degrees of freedom and impedances of the body have been preset according to the goal of the motion and the characteristics of the object. The phrases "taking a stance" and "carrying oneself well" which are used on a daily basis represent the above directly.In the present research, we took up the problem of the redundant degrees of freedom and gave self-organization and function formation methods on skilled motion control. We obtained the following results. 1) Self-organization of task-oriented sensory-motor maps, 2) Hierarchical internal representation method for hand pre-shaping based on visual information, 3) Arm impedance identification during postural control and bimanual control, 4) Mathematical model of adaptation in rhythmic motion to environmental changes, 5) Learning of inverse kinematics and dynamics maps based on artificial neural networks, 6) Motion control scheme for dynamic manipulation 7) Distributed cooperative control of multiple manipulator systems based on passive velocity field control (PVFC). 8) Learning of robot impedance based on repetitive learning. Less