Antagonist Inhibition Control in Redundant Tendon-Driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids

Kawaharazuka, Kento; Kawamura, Masaya; Makino, Shogo; Asano, Yuki; Okada, Kei; Inaba, Masayuki

doi:10.1109/lra.2017.2720854

Cited by 30 publications

(17 citation statements)

References 10 publications

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“…This algorithm collects the time-series errors of the position and velocity of the end-effector to form a dataset and takes the result of multiplying the error by the gain term into the next iteration, which avoids the real-time inverse dynamics solution process for redundant systems. Jäntsch et al [85] proposed a scalable joint space control scheme based on the computed torque control. This method first uses a multilayer perceptron to establish the mapping from muscle force to joint torque and then uses a proportional-integral-derivative controller to calculate the joint torque required to complete the motion task.…”

Section: Brain-inspired Motion Control 231 Methods Based On Control T...mentioning

confidence: 99%

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Qiao

Zhong

et al. 2023

Mach. Intell. Res.

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Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks. With the development of the manufacturing and service industries, the requirement for the comprehensive performance of robotics is growing. Numerous types of bio-inspired robotics have been investigated to realize human-like motion control and manipulation. A study route from inner mechanisms to external structures is proposed to imitate humans and animals better. With this idea, a brain-inspired intelligent robotic system is constructed that contains visual cognition, decision-making, motion control, and musculoskeletal structures. This paper reviews cutting-edge research in brain-inspired visual cognition, decision-making, motion control, and musculoskeletal systems. Two software systems and a corresponding hardware system are established, aiming at the verification and applications of next-generation brain-inspired musculoskeletal robots.

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Section: Brain-inspired Motion Control 231 Methods Based On Control T...mentioning

confidence: 99%

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Qiao

Zhong

et al. 2023

Mach. Intell. Res.

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“…When the target joint angle is qMS , and the current joint angle is q MS , J c (q MS ) • (q MS − q MS ) indicates whether each muscle is an agonist or an antagonist's muscle when moving to that position. In the literature [16], antagonistic muscle relaxation τ r was expressed as:…”

Section: Problem Formulationmentioning

confidence: 99%

“…On the other hand, the skeletal structure can be considered as consisting of connecting rods connected sequentially through rotating joints. Several scholars have studied the friction problem of ordinary robots [12][13][14][15][16]. Based on the LuGre dynamic model, Lischinsky developed a friction model for a hydraulically driven manipulator [12].…”

Section: Introductionmentioning

confidence: 99%

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A feedforward compensation approach for cable-driven musculoskeletal systems

Fan

Yuan

et al. 2022

Robotica

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This paper presents a feedforward compensation approach for musculoskeletal systems (MSs). Compared with traditional rigid robots, human arms have the advantages of flexibility and safety in operation in unstructured environments. However, the influence of external unknown disturbances, inner friction effects, and dynamic uncertainties of the MS makes it difficult to model and practically apply. In order to reduce the inner friction effects of the hardware platform and the over-relaxation/tension of the cable-pull drive, a feedforward friction compensation method for the cable-pulled artificial muscle unit is proposed. The method analyzes the friction causes of the hardware structure and establishes a mapping network relationship between the joint variables and the muscle force error in the muscle space. The experimental results show that the method can effectively improve the control accuracy and reduce the artificial muscle over-relaxation/tension instability.

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“…Not only muscle space, but also joint-space torque controller for flexible and adaptive environmental contact was implemented (45). On the basis of human reciprocal innervation that suppresses co-contraction in muscle antagonism, we implemented antagonist inhibition control that contributed to arm movement in a wide range of motions (46).…”

Section: Development Of Kengoromentioning

confidence: 99%

Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

2017

Self Cite

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Many systems and mechanisms in the human body are not fully understood, such as the principles of muscle control, the sensory nervous system that connects the brain and the body, learning in the brain, and the human walking motion. To address this knowledge deficit, we propose a human mimetic humanoid with an unprecedented degree of anatomical fidelity to the human musculoskeletal structure. The fundamental concept underlying our design is to consider the human mechanism, which contrasts with the conventional engineering approach used in the design of existing humanoids. We believe that the proposed human mimetic humanoid can be used to provide new opportunities in science, for instance, to quantitatively analyze the internal data of a human body in movement. We describe the principles and development of human mimetic humanoids, Kenshiro and Kengoro, and compare their anatomical fidelity with humans in terms of body proportions, skeletal structures, muscle arrangement, and joint performance. To demonstrate the potential of human mimetic humanoids, Kenshiro and Kengoro performed several typical human motions.

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Antagonist Inhibition Control in Redundant Tendon-Driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids

Cited by 30 publications

References 10 publications

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

Brain-inspired Intelligent Robotics: Theoretical Analysis and Systematic Application

A feedforward compensation approach for cable-driven musculoskeletal systems

Design principles of a human mimetic humanoid: Humanoid platform to study human intelligence and internal body system

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