NDLI: A preliminary experiment for transferring human motion to a musculoskeletal robot - Decomposition of human running based on muscular coordination

Content Provider	IEEE Xplore Digital Library
Author	Iimura, T. Inoue, K. Pham, H.T.T. Hirai, H. Miyazaki, F.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University, Japan (Iimura, T.; Inoue, K.; Pham, H.T.T.; Hirai, H.; Miyazaki, F.)
Abstract	The study of decomposition of body movement into motor primitives is evolving in neuroscience. Meanwhile, in robotics, the motor control of human-like musculoskeletal robots is difficult due to redundant degrees of freedom (DOF) of the robot body. The application of the concept of decomposing into units of motor function to robotics is anticipated to render the control of the robot low-dimensional. We try to achieve fewer-DOF control of a human-like musculoskeletal robot by using our knowledge of the units of motor function based on muscular coordination. In this paper, we introduce “the agonist-antagonist muscle pairs (A-A) ratio” and “A-A activity.” These parameters are defined by using electromyographic (EMG) data for describing the coordination between the agonist and antagonist muscles. Human running is decomposed into two units of motor function using Principal Component Analysis (PCA) for these parameters. We propose a new method of modular control of a musculoskeletal leg robot using the extracted patterns of muscle coordination, and we thus find kinematic meanings of the patterns of muscle coordination.
Starting Page	4496
Ending Page	4501
File Size	568430
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094416
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Joints Robot kinematics Vectors Hip Humans
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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