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，足球运动员充满活力的姿势，以及陶工的手部动作。它们动作的复杂性和灵巧性值得高度赞赏。然而，我们更欣赏的是同一个身体所产生的运动的多样性和灵活性，以及对周围环境的适应性。通过什么机制控制这些运动/动作？人体是一个非常冗余的系统，有一百多个关节自由度，是一个复杂的非线性动力学系统。因此，为了实现平稳灵巧的运动，这些冗余的自由度必须以一种或另一种形式加以限制。例如，当我们伸手拿起一个杯子时，我们会根据杯子的大小、形状和握把的存在，把手指按顺序排列成适合杯子的形状。此外，我们根据杯子的重量预先设定手腕和其他关节的僵硬度。此外，在足球运动员射门的那一刻，他的身体像弓一样完全拉紧，并预先设定了旋转脚关节的定向阻抗（粘弹性）。因此，在熟练的动作中，身体的自由度和阻抗是根据动作的目标和物体的特性预先设定的。日常生活中常用的短语“摆好姿态”和“摆好姿态”就直接代表了上述意思。在本研究中，我们研究了冗余自由度问题，给出了熟练运动控制的自组织和函数形成方法。我们得到了以下结果。1)面向任务的感觉-运动映射的自组织，2)基于视觉信息的手部预塑形的分层内部表示方法，3)姿势控制和双手控制中的手臂阻抗识别，4)节奏运动对环境变化的适应数学模型，5)基于人工神经网络的逆运动学和动力学映射学习，基于被动速度场控制（PVFC）的多机械臂系统分布式协同控制。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