Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection
Joint Authors
Ide, Shoichiro
Nishikawa, Atsushi
Source
Applied Bionics and Biomechanics
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-12
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Recently, numerous musculoskeletal robots have been developed to realize the flexibility and dexterity analogous to human beings and animals.
However, because the arrangement of many actuators is complex, the design of the control system for the robot is difficult and challenging.
We believe that control methods inspired by living things are important in the development of the control systems for musculoskeletal robots.
In this study, we propose a muscle coordination control method using attractor selection, a biologically inspired search method, for an antagonistic-driven musculoskeletal robot in which various muscles (monoarticular muscles and a polyarticular muscle) are arranged asymmetrically.
First, muscle coordination control models for the musculoskeletal robot are built using virtual antagonistic muscle structures with a virtually symmetric muscle arrangement.
Next, the attractor selection is applied to the control model and subsequently applied to the previous control model without muscle coordination to compare the control model’s performance.
Finally, position control experiments are conducted, and the effectiveness of the proposed muscle coordination control and the virtual antagonistic muscle structure is evaluated.
American Psychological Association (APA)
Ide, Shoichiro& Nishikawa, Atsushi. 2018. Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection. Applied Bionics and Biomechanics،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1114892
Modern Language Association (MLA)
Ide, Shoichiro& Nishikawa, Atsushi. Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection. Applied Bionics and Biomechanics No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1114892
American Medical Association (AMA)
Ide, Shoichiro& Nishikawa, Atsushi. Muscle Coordination Control for an Asymmetrically Antagonistic-Driven Musculoskeletal Robot Using Attractor Selection. Applied Bionics and Biomechanics. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1114892
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1114892