Analysis for Cooperation of Actuators in Pneumatic Musculoskeletal Leg Model with Asymmetric Antagonistic Structure
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- Nakanishi Daisuke
- Dept. of Control Engineering, N. I. T. Matsue College
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- Kubota Yoichiro
- Dept. of Control Engineering, N. I. T. Matsue College
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- Naniwa Keisuke
- Research Center of Mathematics for Social Creativity, Research Institute for Electronic Science, Hokkaido University
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- Sugimoto Yasuhiro
- Dept. of Mechanical Engineering, Osaka University
Bibliographic Information
- Other Title
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- 非対称な拮抗構造を有する空圧筋骨格脚モデルにおけるアクチュエータ間協調の解析
- ヒタイショウ ナ キッコウ コウゾウ オ ユウスル クウアツ キンコッカク キャク モデル ニ オケル アクチュエータ カン キョウチョウ ノ カイセキ
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Abstract
<p>Many researchers have developed musculoskeletal robots with McKibben pneumatic actuator to elucidate the movement mechanism of animals by a constructive approach in previous studies. These robots can realize various dynamic motions by simple control, such as adjustment of the pressure input patterns. However, the pressure input patterns are often determined by trial and error, and it has not been clarified what kind of mechanism an autonomous coordination pattern like animals is generated. In this study, we propose a new control law based on some force feedback to achieve autonomous coordination of antagonistic muscles. The control law is applied to a leg model with asymmetric antagonistic structure, and the capability was analyzed through numerical simulations and experiments with an actual robot. From these results, it is confirmed that the proposed control law can generate cooperations of the antagonistic muscles and realize periodic motion of the leg.</p>
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 33 (5), 131-138, 2020-05-15
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390566775159213568
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- NII Article ID
- 130007887740
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 030405036
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed