Stiffness direction stabilization and inertia matrix diagonalization of robot manipulator by biarticular muscle

IEEE International Symposium on Industrial Electronics

Volumn , Issue , 2009, Pages 989-994

  Oh, Sehoon ^a   Koyanagi, Takuya ^a   Hori, Yoichi ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIARTICULAR MUSCLES; DIAGONALIZATIONS; HUMAN ARM; INERTIA MATRIX; MUSCLE MODELS; MUSCLE TORQUE; PLANAR ROBOTS; ROBOT MANIPULATOR;

DYNAMICS; EQUATIONS OF MOTION; FLEXIBLE MANIPULATORS; INDUSTRIAL ELECTRONICS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS; STABILIZATION; STIFFNESS; STIFFNESS MATRIX;

MUSCLE;

EID: 77950134871     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISIE.2009.5219922     Document Type: Conference Paper

References (9)

1. D. W. Franklin, G. Liaw, T. E. Milner, R. Osu, E. Burdet, M. Kawato, "Endpoint Stiffness of the Arm Is Directionally Tuned to Instability in the Environment", Journal of Neuroscience, vol. 27(29), 2007, pp. 7705-7716
2. S. Stroeve, "Impedance Characteristics of a Neuromuscluloskeletal Model of the Human Arm I. Posture Control", Biological Cybernetics, vol. 81, 1999, pp.475-494.
3. H. Gomi, M. Kawato, "Task-Dependent Viscoelasticity of Human Multijoint Arm and Its Spatial Characteristics for Interaction with Environments", Journal of Neuroscience, vol. 18(21), 1998, pp. 8965-8978.
4. N. Hogan, "Impedance Control: An Approach to manipulation: Part II - Implementation", Journal of Dynamic Systems. Measurement, and Control, vol. 107, 1985, pp. 8-16.
5. M. Kumamoto, T. Oshima, T. Yamamoto, "Control Properties Induced by the Existence of Antagonistic Pairs of Bi-articular Muscles - Mechanical Engineering Model Analyses", Human Movement Science, vol. 13, 1994, pp. 611-634.
6. K. Yoshida, T. Uchida, Y. Hori, "Novel FF Control Algorithm of Robot Arm Based on Bi-articular Muscle Principle - Emulation of Muscular Viscoelasticity for Disturbance Suppression and Path Tracking", Proc. of IEEE IECON, 2007, pp.310-315
7. S. Oh, Y. Hori, "Development of Novel Two-Degree-of-Freedom Control for Robot Manipulator with Biarticular Muscle Torque ", American Control Control, 2009. (to be presented)
8. K. Ito, T. Tsuji, "The Bilinear Characteristics of Muscle-skeleto Motor System and the Application to Prosthesis Control", Trans. of IEEJ, vol. 105-C, 1985, pp. 201-208. (in Japanese)
9. M. Katayama, M. Kawato, "Virtual Trajectory and stiffness ellipse during multijoint arm movement predicted by neural inverse model", Biological Cybernetics, vol. 69, 1993, pp. 353-362.