End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy

Shoki Tsuboi, Hitoshi Kino, Kenji Tahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This study focuses on replicating the muscu-loskeletal system of human arms for mimicking its movement. Muscle redundancy is critical for regulating the mechanical impedance of arms and legs. However, when implementing muscle redundancy on robots, making an ill-posed problem that cannot determine the muscle forces uniquely. In this paper, first, a method for controlling end-point stiffness in the muscle space for the joint and muscle redundant system is described. Next, the muscle model imitating the nonlinear viscosity characteristic of human muscles is introduced. Then, a method to control the joint viscosity by adjusting the internal forces of muscles adequately without affecting the stiffness control directly is proposed. Finally, numerical simulations are performed to investigate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4997-5002
Number of pages6
ISBN (Electronic)9781665479271
DOIs
Publication statusPublished - 2022
Event2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, Japan
Duration: Oct 23 2022Oct 27 2022

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Country/TerritoryJapan
CityKyoto
Period10/23/2210/27/22

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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