Knowledge Commons of Institute of Automation,CAS
Structure transforming for constructing constraint force field in musculoskeletal robot | |
Zhong, Shanlin1![]() ![]() ![]() | |
发表期刊 | ASSEMBLY AUTOMATION
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ISSN | 0144-5154 |
2021-12-01 | |
卷号 | 42期号:2页码:169-180 |
摘要 | Purpose Human-like musculoskeletal robots can fulfill flexible movement and manipulation with the help of multi joints and actuators. However, in general, sophisticated structures, accurate sensors and well-designed control are all necessary for a musculoskeletal robot to achieve high-precision movement. How to realize the reliable and accurate movement of the robot under the condition of limited sensing and control accuracy is still a bottleneck problem. This paper aims to improve the movement performance of musculoskeletal system by bio-inspired method. Design/methodology/approach Inspired by two kinds of natural constraints, the convergent force field found in neuroscience and attractive region in the environment found in information science, the authors proposed a structure transforming optimization algorithm for constructing constraint force field in musculoskeletal robots. Due to the characteristics of rigid-flexible coupling and variable structures, a constraint force field can be constructed in the task space of the musculoskeletal robot by optimizing the arrangement of muscles. Findings With the help of the constraint force field, the robot can complete precise and robust movement with constant control signals, which brings in the possibility to reduce the requirement of sensing feedback during the motion control of the robot. Experiments are conducted on a musculoskeletal model to evaluate the performance of the proposed method in movement accuracy, noise robustness and structure sensitivity. Originality/value A novel concept, constraint force field, is proposed to realize high-precision movements of musculoskeletal robots. It provides a new theoretical basis for improving the performance of robotic manipulation such as assembly and grasping under the condition that the accuracy of control and sensory are limited. |
关键词 | High precision Attractive region in environment Constraint force field Musculoskeletal robot |
DOI | 10.1108/AA-07-2021-0093 |
关键词[WOS] | COORDINATION ; TASKS ; HOLE ; PEG |
收录类别 | SCIE |
语种 | 英语 |
资助项目 | National Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[91948303] ; Strategic Priority Research Program of the Chinese Academy of Science[XDB32050100] |
项目资助者 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of the Chinese Academy of Science |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing |
WOS记录号 | WOS:000724204600001 |
出版者 | EMERALD GROUP PUBLISHING LTD |
七大方向——子方向分类 | 类脑模型与计算 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/46540 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 |
通讯作者 | Zhong, Shanlin |
作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 2.Univ Sci & Technol China, Dept Automat, Hefei, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhong, Shanlin,Chen, Ziyu,Zhou, Junjie. Structure transforming for constructing constraint force field in musculoskeletal robot[J]. ASSEMBLY AUTOMATION,2021,42(2):169-180. |
APA | Zhong, Shanlin,Chen, Ziyu,&Zhou, Junjie.(2021).Structure transforming for constructing constraint force field in musculoskeletal robot.ASSEMBLY AUTOMATION,42(2),169-180. |
MLA | Zhong, Shanlin,et al."Structure transforming for constructing constraint force field in musculoskeletal robot".ASSEMBLY AUTOMATION 42.2(2021):169-180. |
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