Generation of natural motions for redundant multi-joint systems: A differential-geometric approach based upon the principle of least actions

被引:22
作者
Arimoto, S [1 ]
Hashiguchi, H [1 ]
Sekimoto, M [1 ]
Ozawa, R [1 ]
机构
[1] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan
来源
JOURNAL OF ROBOTIC SYSTEMS | 2005年 / 22卷 / 11期
关键词
D O I
10.1002/rob.20086
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This article challenges Bernstein's problem of redundant degrees of freedom (DOF) that remains unsolved from both the standpoints of physiology and robotics. A rather simpler but difficult control problem of movements of human-like multi-joint reaching with excess DOF is analyzed from Newtonian mechanics and differential geometry. It is shown that, regardless of ill-posedness of inverse kinematics for such a redundant system, a simpler control signal composed of a well-tuned (synergistic) combination of task-space position feedback (corresponding to spring-like forces) and joint velocity feedback (viscous-like forces) leads to a skilled motion of reaching in a natural way without solving inverse kinematics or dynamics. Fundamental characteristics of human skilled multi-joint movements such as (1) generation of a quasi-straight line trajectory of the endpoint and (2) a little "variability" in task space but notable "variability" in joint space are analyzed from the concepts of "stability on an EP (equilibrium-point) manifold" and "transferability to an EP submanifold." It is claimed that the control signal exerts torques on joints of the whole arm just like a single virtual-spring drawing the endpoint of the arm to the target while giving a specified viscosity to each joint. This leads to an interpretation that skilled reaching movements emerge through formation of a set of neuro-motor signals exerting relevant group of muscles to generate a total potential energy equivalent to that of the spring. Discussions are presented on how such control signals in case of human reaching can be generated in a feedforward manner with capability of anticipatory adjustments of stiffness. (C) 2005 Wiley Periodicals, Inc.
引用
收藏
页码:583 / 605
页数:23
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