Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force

Kenji Tahara, Hitoshi Kino

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

4 Citations (Scopus)

Abstract

This paper presents a proposal of an iterative learning control method for a musculoskeletal arm to acquire adequate internal force to realize human-like natural movements. Additionally, a dynamic damping ellipsoid at the end-point is introduced to evaluate internal forces obtained through the iterative learning. In our previous works, we have presented that a human-like smooth reaching movement using a musculoskeletal redundant arm model can be obtained by introducing a nonlinear muscle model and "the Virtual spring-damper hypothesis". However, the internal forces have been determined heuristically, so far. In this paper, an iterative learning control method is used for acquisition of an adequate dynamic damping ellipsoid according to a given task, in order to determine internal forces more systematically. It is presented that the learning control scheme can perform effectively to realize given desired tasks, even under the existence of strong nonlinear characteristics of the muscles. After acquiring a given task, the dynamic damping ellipsoid is introduced to evaluate the relation between a damping effect generated by the acquired internal forces and a trajectory of the end-point. Some numerical simulations are performed and the usefulness of the learning control strategy, despite strong nonlinearity of the muscles, is demonstrated through these results.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages234-240
Number of pages7
DOIs
Publication statusPublished - Dec 1 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Tahara, K., & Kino, H. (2010). Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 234-240). [5650071] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650071