1P1-N05 筋骨格型ロボットの筋内力フィードフォワード位置制御における関節トルクに基づく筋配置設計法(筋骨格モデリング)

Translated title of the contribution: 1P1-N05 Feed-forward Positioning of Musculoskeletal-like Robotic System: Design Method of Muscular Arrangement Based on Joint Torque(Musculoskeletal modeling)

松谷 祐希, 越智 裕章, 木野 仁, 石橋 良太, 田原 健二, 山本 元司

Research output: Contribution to journalArticle

Abstract

This paper proposes a design method of muscular arrangement for feed-forward positioning of a musculoskeletal-like robotic system. In our previous work, we presented that the feed-forward positioning method for the musculoskeletal-like robotic system can be achieved without any sensory feedback by inputting a desired internal force balancing at a desired position to each muscle. However, the muscular arrangement has been determined heuristically so far. In this paper, differentiation of joint torque is focused on the design method of the muscular arrangement to improve motion range. In addition, a moment arm of muscles to evaluate motion convergence is introduced. The usefulness of this proposal method is shown by a numerical simulation.
Translated title of the contribution1P1-N05 Feed-forward Positioning of Musculoskeletal-like Robotic System: Design Method of Muscular Arrangement Based on Joint Torque(Musculoskeletal modeling)
Original languageJapanese
Pages (from-to)_1P1-N05_1-_1P1-N05_4
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2013
Issue number0
DOIs
Publication statusPublished - 2013

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