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Artificial neural musculoskeletal robot upper limb model simplification method

A neuromuscular and robotic technology used in the field of intelligent robots

Active Publication Date: 2018-08-24
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the highly coupled and highly redundant MIMO system for neuromusculoskeletal robots, redundant muscles are deleted, muscles of each limb are simplified, and the class is reduced. Complexity issues in neuromusculoskeletal robotics models

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  • Artificial neural musculoskeletal robot upper limb model simplification method
  • Artificial neural musculoskeletal robot upper limb model simplification method
  • Artificial neural musculoskeletal robot upper limb model simplification method

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Embodiment Construction

[0060] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0061] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0062] figure 1 An exemplary system architecture of an embodiment of the simplified method applied to a neuromusculoskeletal robot upper limb model is shown.

[0063] The system architecture includes a sensing device 101 , an execution device 102 and a control device 103 . The sensing device 101, the execution device 102, and the control device 103 are ...

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Abstract

The invention relates to the field of artificial neural musculoskeletal robots, discloses an artificial neural musculoskeletal robot upper limb model simplification method, and aims at solving the redundancy problem of artificial neural robot models. The method comprises the following steps of: calculating an average muscle force size of related muscles and a first motion track of an artificial neural musculoskeletal robot upper limb model when the artificial neural musculoskeletal robot upper limb model executes a specific basic motion mode; selecting simplified muscle sets of the motion track according to the average muscle force size; calculating a second motion track when the basic motion is executed by utilizing the simplified muscle sets; determining a motion precision index according to the first motion track and the second motion track; determining a simplified muscle set satisfying appointed motion precision as a most simple muscle set of the motion mode; and combining all thesimplified muscle sets required by the basic motion mode so as to obtain a most simple muscle set, satisfying the appointed motion precision, of the artificial neural musculoskeletal robot upper limbmodel. According to the method, artificial neural musculoskeletal robot upper limb models can be simplified.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a method for simplifying the upper limb model of neuromusculoskeletal robots. Background technique [0002] The neuromusculoskeletal robot is based on the artificial skeleton made by imitating the human skeletal structure. According to the distribution characteristics of muscles in anatomy, artificial muscles are added as the actuators of the robot, and then the neural control algorithm is used to calculate muscle activation signals to stimulate artificial muscle contraction. In order to generate muscle force to drive the skeleton movement, the neuromusculoskeletal robot can achieve accurate motion control and force control. [0003] However, the neuromusculoskeletal robot is a highly coupled and highly redundant multiple-input and multiple-output system. Each limb of the neuromusculoskeletal robot includes multiple degrees of freedom and multiple muscles, and the muscle arrange...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06T7/246
CPCG06F30/17G06F30/20G06F2119/06G06T7/251G06T2207/30008
Inventor 钟汕林乔红陈嘉浩
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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