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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Conference Digest
ページ7-12
ページ数6
DOI
出版ステータス出版済み - 12 1 2013
イベント2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Tokyo, 日本
継続期間: 11 7 201311 9 2013

出版物シリーズ

名前Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
ISSN(印刷版)2162-7568
ISSN(電子版)2162-7576

その他

その他2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013
国/地域日本
CityTokyo
Period11/7/1311/9/13

All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識
  • 電子工学および電気工学

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