Analysis of autonomous coordination between McKibben pneumatic actuators in the antagonist musculoskeletal model
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- Goto Takahiro
- Graduate School of Engineering, Osaka University
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- Sugimoto Yasuhiro
- Graduate School of Engineering, Osaka University
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- Nakanishi Daisuke
- Department of Control Engineering, N.I.T., Matsue College
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- Naniwa Keisuke
- Research Institute for Electronic Science, Hokkaido University
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- Osuka Koichi
- Graduate School of Engineering, Osaka University
Abstract
<p>Cooperative relationships exist among various physical phenomena. Several cooperative phenomena have been analyzed theoretically by considering them as synchronous phenomena. We focus on the cooperative motion obtained in the antagonistic structures by considering the McKibben pneumatic actuator (MPA) as one of the synchronous phenomena. This study aims to realize the various movements of a robot with MPAs based on the autonomous coordination between MPAs. In a previous study, we proposed a novel tension feedback control inspired by animal motion and confirmed that this control law generates some cooperative relationship between the MPAs. In this paper, we mathematically analyze the realized cooperative relationships as a synchronous phenomenon, and clarify the mechanism by which the delay in the change in the MPA length with the change in the MPA pressure generates the transition of phase difference. This result suggests that multiple targeted motions can be generated by a single control law.</p>
Journal
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- Nonlinear Theory and Its Applications, IEICE
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Nonlinear Theory and Its Applications, IEICE 12 (3), 424-441, 2021
The Institute of Electronics, Information and Communication Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390570022237483776
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- NII Article ID
- 130008060811
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- ISSN
- 21854106
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- Text Lang
- en
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed