A Study of Coordinated Control Model Based on the Variability of Physical Movements

2017 Fiscal Year Final Research Report

• 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
• 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

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.

Free Research Field

計算論的神経科学