TY - GEN
T1 - Reaction force control of robot manipulator based on biarticular muscle viscoelasticity control
AU - Oh, Sehoon
AU - Kimura, Yasuto
AU - Hori, Yoichi
PY - 2010
Y1 - 2010
N2 - This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity of muscles are identified with the force generated by the PD position control. Then it is extended to a 3-pair 6-muscle model including the biarticular muscle. Next a novel statics based on the biarticular muscle structure is suggested. Based on these suggestions, a robot manipulator which has the biarticular muscle is controlled to simulate the muscle characteristics. By this simulation, the characteristics and roles of the biarticular muscle are clarified; an optimal viscoelasticity design of the biarticular muscle and its effect at the endeffector.
AB - This paper suggests a novel reaction force control in a robot manipulator by position feedback, motivated by the analysis of human musculoskeletal system. First, we suggest an analogy between a muscle force characteristic and two-degree-of-freedom control input structure so that the complicated human muscle structure can be reflected in robot manipulator control: reaction force generated by the viscoelasticity of muscles are identified with the force generated by the PD position control. Then it is extended to a 3-pair 6-muscle model including the biarticular muscle. Next a novel statics based on the biarticular muscle structure is suggested. Based on these suggestions, a robot manipulator which has the biarticular muscle is controlled to simulate the muscle characteristics. By this simulation, the characteristics and roles of the biarticular muscle are clarified; an optimal viscoelasticity design of the biarticular muscle and its effect at the endeffector.
UR - http://www.scopus.com/inward/record.url?scp=79951647350&partnerID=8YFLogxK
U2 - 10.1109/AIM.2010.5695926
DO - 10.1109/AIM.2010.5695926
M3 - Conference contribution
AN - SCOPUS:79951647350
SN - 9781424480319
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1105
EP - 1110
BT - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
T2 - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Y2 - 6 July 2010 through 9 July 2010
ER -