Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons

H. Kino, H. Ochi, Y. Matsutani, Kenji Tahara

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.

Original languageEnglish
Pages (from-to)851-864
Number of pages14
JournalAdvanced Robotics
Volume31
Issue number16
DOIs
Publication statusPublished - Aug 18 2017

Fingerprint

Tendons
Manipulators
Position control
Sensory feedback
Lyapunov functions
Robots

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

Cite this

Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator : analysis of a two-DOF planar system with six tendons. / Kino, H.; Ochi, H.; Matsutani, Y.; Tahara, Kenji.

In: Advanced Robotics, Vol. 31, No. 16, 18.08.2017, p. 851-864.

Research output: Contribution to journalArticle

@article{ba81d0489e5c45c295c5468cf83dde99,
title = "Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons",
abstract = "Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.",
author = "H. Kino and H. Ochi and Y. Matsutani and Kenji Tahara",
year = "2017",
month = "8",
day = "18",
doi = "10.1080/01691864.2017.1372212",
language = "English",
volume = "31",
pages = "851--864",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "16",

}

TY - JOUR

T1 - Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator

T2 - analysis of a two-DOF planar system with six tendons

AU - Kino, H.

AU - Ochi, H.

AU - Matsutani, Y.

AU - Tahara, Kenji

PY - 2017/8/18

Y1 - 2017/8/18

N2 - Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.

AB - Tendon-driven robot utilizes only tensile force (i.e. tension) for motion generation. Therefore, a redundant actuation is characteristically necessary, and then it yields the internal force among tendons. Given the internal force for balance at a desired posture, the musculoskeletal tendon-driven manipulator has the inherent possibility of point-to-point position control without any sensory feedback. However, the motion convergence is strongly governed by the arrangement of tendons.This study analyzes the mathematical conditions of convergence for this sensorless position control by use of a Lyapunov function. Subsequently, targeting the two-link musculoskeletal structure with six tendons, the sufficient conditions for the convergence at desired posture are further defined by employing an approximation of the tendon-length based on a Taylor expansion. Finally, the convergent conditions are verified through simulation and validated via experimental results.

UR - http://www.scopus.com/inward/record.url?scp=85029476068&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85029476068&partnerID=8YFLogxK

U2 - 10.1080/01691864.2017.1372212

DO - 10.1080/01691864.2017.1372212

M3 - Article

AN - SCOPUS:85029476068

VL - 31

SP - 851

EP - 864

JO - Advanced Robotics

JF - Advanced Robotics

SN - 0169-1864

IS - 16

ER -