Muscular viscoelasticity design and evaluation in feed-forward position control of robot arm based on animal musculoskeletal model

This paper describes important role of muscular viscoelasticity at Feed-forward position control of robot arm based on animal musculoskeletal model. Feed-back controller of animals has big delay. Therefore, feed-forward (FF) controller contributes mainly in local motor control of animals. We focus control ability of animal muscle. Muscle has variable viscoelasticity according to muscular activation level. Proposed controller utilize this characteristic. The controller based on antagonistic muscular pair can be represented by equivalent block diagram containing PD controller. This representation enables its design and evaluation easily. Proposed controller is evaluated by our experimental robot arm which has a mechanism based on bi-articular muscle.

[1]  T. Oshima,et al.  Control properties induced by the existence of antagonistic pairs of bi-articular muscles-Mechanical engineering model analyses , 1994 .

[2]  M. Bobbert,et al.  The unique action of bi-articular muscles in complex movements. , 1987, Journal of anatomy.

[3]  E. Bizzi,et al.  Neural, mechanical, and geometric factors subserving arm posture in humans , 1985, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[4]  Yasuo Kuniyoshi,et al.  Mowgli: A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Y. Hori,et al.  Novel FF Control Algorithm of Robot Arm Based on Bi-articular Muscle Principle - Emulation of Muscular Viscoelasticity for Disturbance Suppression and Path Tracking , 2007, IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society.

[6]  Toru Oshima,et al.  Jump Mechanism using Coordination Function of Bi-articular Muscle in Knee and Ankle Joint , 2005 .

[7]  Y. Hori,et al.  Experimental verification on novel robot arm equipped with bi-articular driving mechanism , 2009, 2009 IEEE International Symposium on Industrial Electronics.

[8]  N. Hogan Adaptive control of mechanical impedance by coactivation of antagonist muscles , 1984 .

[9]  Neville Hogan,et al.  On the stability of manipulators performing contact tasks , 1988, IEEE J. Robotics Autom..

[10]  Toshio Tsuji,et al.  The Bilinear Characteristics of Muscle-Skeletomotor System and the Application to Prosthesis Control , 1985 .