TY - GEN
T1 - Development of simplified statics of robot manipulator and optimized muscle torque distribution based on the statics
AU - Oh, Sehoon
AU - Salvucci, Valerio
AU - Hori, Yoichi
PY - 2011
Y1 - 2011
N2 - Statics for a two-link manipulator is re-derived based on the biarticular muscle coordinate in this paper. Torques of two joint-motors to generate a certain force at the endeffector can be calculated in a simple trigonometric function form. A H infinity optimization algorithm is applied to the redundancy problem and minimizes the necessary torque for each muscle. This algorithm can generate novel torque patterns whose peak values are minimized and the maximum torque of the actuators can be set small. The suggested statics provides not only insight to the robot design, but also some interpretation to our body's muscle activation strategy.
AB - Statics for a two-link manipulator is re-derived based on the biarticular muscle coordinate in this paper. Torques of two joint-motors to generate a certain force at the endeffector can be calculated in a simple trigonometric function form. A H infinity optimization algorithm is applied to the redundancy problem and minimizes the necessary torque for each muscle. This algorithm can generate novel torque patterns whose peak values are minimized and the maximum torque of the actuators can be set small. The suggested statics provides not only insight to the robot design, but also some interpretation to our body's muscle activation strategy.
UR - http://www.scopus.com/inward/record.url?scp=80053151108&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80053151108
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 4099
EP - 4104
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -