Controlling Musculoskeletal System with Spinal Cord-Inspired Constraint Force Field Primitives

Author:

Zhong Shanlin12ORCID,Wu Yaxiong32ORCID,Wu Wei12ORCID,Qiao Hong12ORCID

Affiliation:

1. The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, P. R. China

2. The Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction, Beijing 100190, P. R. China

3. The School of Mechanical Engineering, University of Science and Technology Beijing Beijing 100083, P. R. China

Abstract

Organisms naturally have extraordinary motor ability. They can autonomously control the highly redundant and nonlinear musculoskeletal system to complete fast and flexible movements. Motor primitive theory proposed that a complex movement can be realized by modular organization of simple movement patterns. This theory provides a convincing theoretical basis for explaining the extraordinary motor ability of organisms, and has been supported by plenty of experimental evidences in neurosciences. As a kind of typical motor primitive related to the modular regulation of the spinal motor system, convergent force field was thought to be significant for reducing the complexity of controlling numerous muscles and joints simultaneously. Inspired by the primitive property of convergent force field, in this paper, we proposed a new algorithm to efficiently construct constraint force field on musculoskeletal system with highly redundant actuators by taking optimized parameters of constraint force field as motor primitives. Compared with previous methods of constructing constraint force field, the proposed algorithm is able to reduce the dimension of the solution space so as to effectively improve the computational efficiency of constructing constraint force field in musculoskeletal system with redundant muscles. Validation experiments were carried out in a musculoskeletal system with 10 redundant muscles. The number of optimization iterations and computational time required for constructing constraint force field at a new position were significantly reduced. The system can accurately reach the target position using constant activations. This work may bring in new inspiration for realizing efficient and accurate motion control of musculoskeletal robots with limited feedback accuracy.

Funder

National Natural Science Foundation of China

Major program of the National Natural Science Foundation of China

the Strategic Priority Research Program of Chinese Academy of Science

Chinese Academy of Science Project for Young Scientists in Basic Research

STI 2030-Major Projects

Publisher

World Scientific Pub Co Pte Ltd

Subject

Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3