A Study of Coordinated Control Model Based on the Variability of Physical Movements
Project/Area Number |
26289129
|
Research Category |
Grant-in-Aid for Scientific Research (B)
|
Allocation Type | Partial Multi-year Fund |
Section | 一般 |
Research Field |
Control engineering/System engineering
|
Research Institution | Nagoya University |
Principal Investigator |
Uno Yoji 名古屋大学, 工学研究科, 教授 (10203572)
|
Co-Investigator(Kenkyū-buntansha) |
香川 高弘 愛知工業大学, 工学部, 准教授 (30445457)
|
Project Period (FY) |
2014-04-01 – 2018-03-31
|
Project Status |
Completed (Fiscal Year 2017)
|
Budget Amount *help |
¥15,210,000 (Direct Cost: ¥11,700,000、Indirect Cost: ¥3,510,000)
Fiscal Year 2017: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2016: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2015: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2014: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
|
Keywords | 身体運動 / 関節間協調 / 協調制御 / 冗長性 / UCM解析 / バランス制御 / ヒューマノイド / 多関節アーム / 仮想軌道 / 運動協調 / 知能ロボティクス / 制御工学 / 生体生命情報額 / 生体生命情報学 / 運動制御 / 生体生命工学 |
Outline of Final Research Achievements |
The human can perform dexterous motion tasks coordinating redundant multi-joints of his body. We approached the control mechanism of human physical movements from the viewpoint of a computational theory. Human body movements in various tasks were mathematically analyzed focused on the variability of joint trajectories. In addition, a synergistic control model allowing task-irrelevant variability was proposed on the basis of the redundancy of systems. The validity and efficiency of the proposed model were confirmed by the measurement experiments of human physical movements and the control experiments of actual robots.
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Report
(5 results)
Research Products
(52 results)