Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity

Determination of an adequate internal force

Yuki Matsutani, Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Motoji Yamamoto

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

1 Citation (Scopus)

Abstract

This paper proposes a new feed-forward positioning method for a musculoskeletal-like robotic system considering a muscle-like nonlinear viscosity, and a new determination method of the internal force using the reinforcement learning scheme. In our previous works, a feed-forward positioning method for the musculoskeletal-like robotic systems has been proposed. In the method, the position regulation of the system can be accomplished by inputting a desired internal force balancing at a desired position. It has been quite effective for the muscle-like driven mechanism because no sensor is necessary to regulate the position. However, this method often induces an overshoot phenomenon when performing a set-point control. In addition, there is another intrinsic problem that musculoskeletal-like redundant-driven mechanisms own the ill-posed problems that the internal force is unable to determine uniquely. In this paper, for the farmer problem, a muscle-like nonlinear viscosity is newly added to the controller to reduce such an overshoot phenomenon and then to expand the stable region of the manipulator. For the latter problem, a determination method of the internal force using a reinforcement learning scheme is newly proposed. In what follows, firstly a new feed-forward controller which considers the muscle-like viscosity is introduced, and shows its effectiveness through numerical simulations. Next, the determination method of the internal force using a reinforcement learning scheme is proposed and its effectiveness is also shown through numerical simulations.

Original languageEnglish
Title of host publication2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest
Pages7-12
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Tokyo, Japan
Duration: Nov 7 2013Nov 9 2013

Other

Other2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013
CountryJapan
CityTokyo
Period11/7/1311/9/13

Fingerprint

Muscle
Reinforcement learning
Robotics
Viscosity
Controllers
Computer simulation
Manipulators
Sensors

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Matsutani, Y., Ochi, H., Kino, H., Tahara, K., & Yamamoto, M. (2013). Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force. In 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest (pp. 7-12). [6705498] https://doi.org/10.1109/ARSO.2013.6705498

Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity : Determination of an adequate internal force. / Matsutani, Yuki; Ochi, Hiroaki; Kino, Hitoshi; Tahara, Kenji; Yamamoto, Motoji.

2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. 2013. p. 7-12 6705498.

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

Matsutani, Y, Ochi, H, Kino, H, Tahara, K & Yamamoto, M 2013, Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force. in 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest., 6705498, pp. 7-12, 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013, Tokyo, Japan, 11/7/13. https://doi.org/10.1109/ARSO.2013.6705498
Matsutani Y, Ochi H, Kino H, Tahara K, Yamamoto M. Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force. In 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. 2013. p. 7-12. 6705498 https://doi.org/10.1109/ARSO.2013.6705498
Matsutani, Yuki ; Ochi, Hiroaki ; Kino, Hitoshi ; Tahara, Kenji ; Yamamoto, Motoji. / Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity : Determination of an adequate internal force. 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest. 2013. pp. 7-12
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