Clarification of potential significance of endoskeleton's muscular arrangement and its appreciation for motion-generation of Robotics

2016 Fiscal Year Final Research Report

• Project/Area Number: 26330303
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: Fukuoka Institute of Technology
• Principal Investigator: Hitoshi Kino 福岡工業大学, 工学部, 教授 (50293816)
• Research Collaborator: MATSUTANI Yuki 熊本高等専門学校, 機械知能システム工学科, 助教 ; OCHI Hiroaki 山口東京理科大学, 工学部, 助教
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 筋内力制御 / 筋配置 / 収束条件 / 位置制御

Outline of Final Research Achievements

The one of the characteristic of a vertebrate animal, like a human, is the endoskeletal structure. This structure enables motion generation by moving muscles; adjusting internal force among the muscles, joint stiffness can be changed. In the previous research, it pointed out that motion control can be achieved without any sensory feedback and complicated real-time calculation, when muscular internal force balancing at a desired posture is given to the endoskeletal structure as step input.
However, the motion convergence strongly depends on the muscular arrangement; the mathematical condition to converge at a desired posture was not clarified.
This study has clarified the condition of the motion convergence, and assesses the conditions by simulation.

Free Research Field

ロボット工学