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Reducing Redundancy of Musculoskeletal Robot With Convex Hull Vertexes Selection
- Source :
- IEEE Transactions on Cognitive and Developmental Systems. 12:601-617
- Publication Year :
- 2020
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2020.
-
Abstract
- It has been a long-term dream of roboticist to create a robot that has similar behavior and appearance to human. With highly redundant joints and actuators, the musculoskeletal system of human can fulfill movement and operation with high precision, flexibility, and reliability. However, the redundancy of the musculoskeletal system also brings great difficulties to the control and fabrication of a human-like robot. Therefore, we propose an algorithm based on the convex hull theory to effectively reduce the number of redundant muscles. Specifically, taking the strength limitation and state-dependent characteristics of muscles into consideration, by analyzing the torque contribution of muscles for the discrete motion of joints, each muscle can be represented by a feature vector, and the convex hulls are formed by these vectors in high-dimensional space. By applying the proposed algorithm, the muscles corresponding to the vertexes of the convex hull are reserved while the redundant muscles within the convex hull are deleted, and a simplified model can be obtained. Sets of motion experiments demonstrate that the simplified model can achieve high-precision movement as a complete model. Based on the simplified model, a hardware platform of a robotic arm is constructed, which consists of six degrees of freedom and 11 pneumatic muscles.
- Subjects :
- Convex hull
0209 industrial biotechnology
Computer science
Quantitative Biology::Tissues and Organs
Feature vector
02 engineering and technology
Computer Science::Robotics
020901 industrial engineering & automation
Artificial Intelligence
Control theory
Hull
0202 electrical engineering, electronic engineering, information engineering
Redundancy (engineering)
Robot
Six degrees of freedom
020201 artificial intelligence & image processing
Actuator
Robotic arm
Software
Subjects
Details
- ISSN :
- 23798939 and 23798920
- Volume :
- 12
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Cognitive and Developmental Systems
- Accession number :
- edsair.doi...........e4edfa170aae85c54900dc892178b81f