Set-point control of a musculoskeletal arm by The complementary combination of a feedforward and feedback manner

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

研究成果: ジャーナルへの寄稿Conference article

3 引用 (Scopus)

抄録

This paper proposes a novel set-point control method of a musculoskeletal system by combining a feedforward and feedback manner To complement each drawback each other. In our previous work, a feedforward positioning method of The musculoskeletal arm model was proposed which does not need any realtime sensory information. Its performance, however, depends on a muscular arrangement and an attitude of The arm, and Thereby a large initial muscular internal force is necessary To make a good performance. On The other hand, it is well-known That a visual servoing is effective and versatile for The set-point control. However, There is a considerable Time-delay due To a computational burden To acquire useful information from an image and an insufficient sampling period To capture each image when using a video frame rate camera. Thus in This paper, The feedforward and feedback signal are linearly combined into one in order To mutually complement each drawback. The combined control signal is newly designed and Then numerical simulation results are shown To demonstrate The effectiveness and usefulness of The proposed method.

元の言語英語
記事番号6907729
ページ(範囲)5908-5914
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
DOI
出版物ステータス出版済み - 1 1 2014
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, 中国
継続期間: 5 31 20146 7 2014

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Feedback
Musculoskeletal system
Visual servoing
Time delay
Cameras
Sampling
Computer simulation

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

Set-point control of a musculoskeletal arm by The complementary combination of a feedforward and feedback manner. / Matsutani, Yuki; Tahara, Kenji; Kino, Hitoshi; Ochi, Hiroaki; Yamamoto, Motoji.

:: Proceedings - IEEE International Conference on Robotics and Automation, 01.01.2014, p. 5908-5914.

研究成果: ジャーナルへの寄稿Conference article

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