Numerical analysis of feedforward position control for non-pulley musculoskeletal system: A case study of muscular arrangements of a two-link planar system with six muscles

Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara, Takahiro Nishiyama

研究成果: ジャーナルへの寄稿学術誌査読

20 被引用数 (Scopus)

抄録

In a musculoskeletal system like a tendon-driven robot, redundant actuation is necessary because muscles (or mechanical parts such as tendons) can transmit tension only unidirectionally. This redundancy yields internal force among muscles, which has a particular field of potential energy. Using internal force as a feedforward input, a musculoskeletal system can achieve feedforward position control with no sensory feedback. This paper studies the feedforward position control coming from the redundancy for a non-pulley musculoskeletal system. Targeting a planar two-link system with six muscles as a case study, the motion convergence depending on the muscular arrangement is examined quasi-statically. The results point out that the convergence is extremely sensitive to the muscular arrangement, and adding small offsets for the muscular connected points can remarkably improve the positioning performance.

本文言語英語
ページ(範囲)1235-1248
ページ数14
ジャーナルAdvanced Robotics
27
16
DOI
出版ステータス出版済み - 2013

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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