A five-link 2D brachiating ape model with life-like zero-energy-cost motions

Gomes, Mario W.; Ruina, Andy

doi:10.1016/j.jtbi.2005.04.014

Cited by 46 publications

(28 citation statements)

References 19 publications

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“…We first created a low-dimensional dynamical model that captured the natural dynamics of the frog hindlimb. The examples of ''passive walkers'' that locomote with negligible active control clearly suggest the utility of such a design principle (17,18). This work suggests that some limb movements arise ''naturally,'' and with little muscular effort.…”

mentioning

confidence: 82%

Simplified and effective motor control based on muscle synergies to exploit musculoskeletal dynamics

Berniker

Jarc

Bizzi

et al. 2009

Proc. Natl. Acad. Sci. U.S.A.

150

155

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The basic hypothesis of producing a range of behaviors using a small set of motor commands has been proposed in various forms to explain motor behaviors ranging from basic reflexes to complex voluntary movements. Yet many fundamental questions regarding this long-standing hypothesis remain unanswered. Indeed, given the prominent nonlinearities and high dimensionality inherent in the control of biological limbs, the basic feasibility of a lowdimensional controller and an underlying principle for its creation has remained elusive. We propose a principle for the design of such a controller, that it endeavors to control the natural dynamics of the limb, taking into account the nature of the task being performed. Using this principle, we obtained a low-dimensional model of the hindlimb and a set of muscle synergies to command it. We demonstrate that this set of synergies was capable of producing effective control, establishing the viability of this muscle synergy hypothesis. Finally, by combining the low-dimensional model and the muscle synergies we were able to build a relatively simple controller whose overall performance was close to that of the system's full-dimensional nonlinear controller. Taken together, the results of this study establish that a low-dimensional controller is capable of simplifying control without degrading performance.low-dimensional ͉ optimal control ͉ muscle pattern ͉ frog ͉ computational model C ontrolling any movement, whether it be a stereotyped reflex or a sophisticated skill, is highly complex. Fundamentally, every movement requires the detailed specification of a vast number of variables, potentially involving many thousands of motor units distributed throughout the limbs and body. Further, the relationship between these variables and the intended motion of the body is nontrivial, dictated by the intricate nonlinear dynamics of the musculoskeletal system. Elucidating control strategies that can overcome these complexities is a central issue in the neural control of movement.Many investigators have suggested that the central nervous system (CNS) might have developed strategies to simplify the control of movement (1-6). According to one common proposal, the CNS might produce movement through the flexible combination of ''muscle synergies,'' with each such synergy specifying a particular balance of activation across a set of muscles (7-16). By reducing the number of controlled variables, such a lowdimensional control strategy would simplify the production of movement.Although many experiments have found evidence to suggest that many behaviors can be produced through combinations of muscle synergies, several questions concerning this hypothesis remain unresolved. Foremost among these questions is a proof of the concept's viability: can a low-dimensional control scheme based on muscle synergies reproduce the range of observed behaviors with negligible loss of efficacy? Given the nonlinearities and high dimensionality inherent in biological motor control, the answer to this question is not ...

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mentioning

confidence: 82%

Simplified and effective motor control based on muscle synergies to exploit musculoskeletal dynamics

Berniker

Jarc

Bizzi

et al. 2009

Proc. Natl. Acad. Sci. U.S.A.

150

155

View full text Add to dashboard Cite

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“…1). This is the same underactuated robot model studied in most robotic brachiating literature, for example, [6], [7], [15]. Here, the properties of the two links are different.…”

Section: Dynamic Brachiatingmentioning

confidence: 99%

“…Brachiating motions may be achieved via simple point-mass models [5], two-link models [2], or five-link models [6], all with theoretically no mechanical energy cost. Recent work in [7] proposes a hybrid mechanical model for Kim a two-link brachiating robot.…”

Section: Introductionmentioning

confidence: 99%

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Robust control of a brachiating robot

Nguyen

Liu

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper investigates the robust control of an underactuated brachiating robot. The control schemes are motivated by the applications that require robots to move through lattice structures, such as the inspection and maintenance of power transmission lines and towers. Inspired by the pendulum-like movements in gibbons' arboreal locomotion, the controllers are designed to synchronize the brachiator with a virtual oscillator. Two schemes are proposed: a modeldependent feedback linearization scheme and a sliding-mode scheme that is independent of the system model. The numerical results illustrate that the proposed schemes are robust to the arbitrary initial configurations of the brachiator and the limitation in the motor torque at the elbow joint. They are able to perform successful fast swing-up and dynamic brachiating in a unified control framework. Furthermore, both controllers enable the underactuated robot to brachiate along a structural member with an upward slope.

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“…The empirical robots in this category needed to have extra degrees-of-freedom (DOFs) to grasp/release or switch the fixed positions, and a distance sensor was used to detect the distance and height of the bars for brachiating adjustment [31]. Later, the simulation studies used models with link numbers up to seven to simulate the complex dynamics of primates [32][33][34][35][36].…”

Section: Introductionmentioning

confidence: 99%

Model-Based Design and Evaluation of a Brachiating Monkey Robot with an Active Waist

Yang

Lin

et al. 2017

Applied Sciences

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Abstract:We report on the model-based development of a monkey robot that is capable of performing continuous brachiation locomotion on swingable rod, as the intermediate step toward studying brachiation on the soft rope or on horizontal ropes with both ends fixed. The work is different from other previous works where the model or the robot swings on fixed bars. The model, which is composed of two rigid links, was inspired by the dynamic motion of primates. The model further served as the design guideline for a robot that has five degree of freedoms: two on each arm for rod changing and one on the waist to initiate a swing motion. The model was quantitatively formulated, and its dynamic behavior was analyzed in simulation. Further, a two-stage controller was developed within the simulation environment, where the first stage used the natural dynamics of a two-link pendulum-like model, and the second stage used the angular velocity feedback to regulate the waist motion. Finally, the robot was empirically built and evaluated. The experimental results confirm that the robot can perform model-like swing behavior and continuous brachiation locomotion on rods.

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A five-link 2D brachiating ape model with life-like zero-energy-cost motions

Cited by 46 publications

References 19 publications

Simplified and effective motor control based on muscle synergies to exploit musculoskeletal dynamics

Simplified and effective motor control based on muscle synergies to exploit musculoskeletal dynamics

Robust control of a brachiating robot

Model-Based Design and Evaluation of a Brachiating Monkey Robot with an Active Waist

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