NDLI: Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness

Content Provider	IEEE Xplore Digital Library
Author	Tahara, K. Kuboyama, Y. Kurazume, R.
Copyright Year	2012
Description	Author affiliation: Faculty of Engineering, Kyushu University, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan (Tahara, K.) \|\| Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan (Kuboyama, Y.) \|\| Faculty of Information Science and Electrical Engineering, Kyushu university, 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, Japan (Kurazume, R.)
Abstract	In this paper, a new iterative learning control method which uses multiple space variables for a musculoskeletal-like arm system is proposed to improve the robustness against noises being included in sensory information. In our previous works, the iterative learning control method for the redundant musculoskeletal arm to acquire a desired endpoint trajectory simultaneous with an adequate internal force was proposed. The controller was designed using only muscle space variables, such as a muscle length and contractile velocity. It is known that the movement of the musculoskeletal system can be expressed in a hierarchical three-layered space which is composed of the muscle space, the joint space and the task space. Thus, the new iterative learning control input is composed of multiple space variables to improve its performance and robustness. Numerical simulations are conducted and their result is evaluated from the viewpoint of the robustness to noises of sensory information. An experiment is performed using a prototype of musculoskeletal-like manipulator, and the practical usefulness of the proposed method is demonstrated through the result.
Starting Page	4620
Ending Page	4625
File Size	592073
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385628
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Aerospace electronics Noise Trajectory Joints Robustness
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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