Constructing Constraint Force Field in Musculoskeletal Robot by Co-optimizing Muscle Arrangements and Constant Activations
Zhong SL(钟汕林)1,2; Zhou JJ(周俊杰)1,2; Wu W(吴伟)1,2
2022-07-18
Conference NameInternational Joint Conference on Neural Networks
Conference Date2022-7-18
Conference PlacePADUA,Italy
Abstract

  Robots with high-precision motion and operation ability are of great application significance. By referring to the biomechanical structure and neural control mechanism of human motion system, the research of musculoskeletal robot system with rigid-flexible coupling characteristics is one of the important ways to improve the operation flexibility and control robustness of robot. Inspired by the equilibrium point hypothesis proposed in neuroscience, this paper proposes a co-optimization algorithm of muscle arrangement and activation to construct constraint force field in the workspace of musculoskeletal robot. When the muscle arrangement is rough due to the insufficient precision of the mechanical structure, the musculoskeletal robot can maintain accurate motion with the help of constraint force field by adopting the optimized constant activation. Experiments are carried out on a musculoskeletal robot model with human-mimetic muscle to demonstrate the effectiveness of the proposed algorithm in movement accuracy, noise robustness and generalization. This work may be of great significance for the further introduction of constraint force field into hardware system of musculoskeletal robot.

KeywordMusculoskeletal robot Constraint Force Field High precision Control Schemes of robot
Indexed ByEI
Funding ProjectStrategic Priority Research Program of Chinese Academy of Science[XDB32050100]
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/48644
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorWu W(吴伟)
Affiliation1.State Key Laboratory of Management and Control for Complex System, Institute of Automation, Chinese Academy of Science, Beijing 100190, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Zhong SL,Zhou JJ,Wu W. Constructing Constraint Force Field in Musculoskeletal Robot by Co-optimizing Muscle Arrangements and Constant Activations[C],2022.
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