Art

J-GLOBAL ID：201902278573892064   Reference number：19A0412957

Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles

二関節筋を備えたロボットアームの運動制御のための筋力の選択

Author (3)： MORIZONO Tetsuya (Fukuoka Inst. of Technol., Fukuoka, JPN) ,  TAHARA Kenji (Kyushu Univ., Fukuoka, JPN) ,  KINO Hitoshi (Fukuoka Inst. of Technol., Fukuoka, JPN)
Material： Journal of Robotics and Mechatronics  (J Robot Mechatron)
Volume： 31  Issue： 1  Page： 143-155  Publication year： Feb. 20, 2019 
JST Material Number： L0735A  ISSN： 0915-3942  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *robot arm ,  skeletal muscle ,  muscle force ,  *motion control ,  articulated robot ,  action ,  mapping ,  Computer Simulation ,  feedforward control ,  space ,  *Bi-articular muscle ,  visual space ,  robot ,  computer application ,  utilization
Semi thesaurus term： redundant actuation ,  mapping ,  feedforward control

JST classification (2)： Design,manufacturing,and components of robots  (IC04013A) ,  Motion and control of robots  (IC04012J)

Reference (16)：

• [1] G. J. V. I. Schenau, “From rotation to translation: Constraints on multi-joint movements and the unique action of bi-articular muscles,” Human Movement Science, Vol.8, No.4, pp. 301-337, 1989.
• [2] T. Oshima, N. Momose, K. Koyanagi, T. Matsuno, and T. Fujikawa, “Jumping mechanism imitating vertebrate by the mechanical function of bi-articular muscle,” 2007 Int. Conf. on Mechatronics and Automation, pp. 1920-1925, August 2007.
• [3] T. Kaneko, K. Ogata, S. Sakaino, and T. Tsuji, “Impact force control based on stiffness ellipse method using biped robot equipped with biarticular muscles,” 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2246-2251, September 2015.
• [4] Y. Nakata, A. Ide, Y. Nakamura, K. Hirata, and H. Ishiguro, “Hopping by a monopedal robot with a biarticular muscle by compliance control - an application of an electromagnetic linear actuator -,” J. Robot. Mechatron., Vol.25, No.1, pp. 106-114, 2013.
• [5] M. Kumamoto, T. Oshima, and T. Yamamoto, “Control properties induced by the existence of antagonistic pairs of bi-articular muscles - mechanical engineering model analyses,” Human Movement Science, Vol.13, No.5, pp. 611-634, 1994.

Terms in the title (4)： 二関節筋 ,  ロボット ,  運動制御 ,  筋力