通过外力调节柔性人体模型动作，实现精准运动修正
Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control
- 利用肌肉补偿控制，基于外力调整柔性躯体运动
- 在无关节角度测量条件下实现运动轨迹精确修正
- 适合需要高精度动作控制的仿人机器人研究
尽管肌骨骼类人机器人具有多种生物仿生结构优势，但其身体难以精确控制，建模困难。虽然已有多种基于学习的控制方法，但仍无法完全消除模型误差，且识别误差不可避免。本文提出一种在运动过程中施加外部力以修改肌骨骼类人机器人动作的方法，利用其柔性本体特性。考虑到关节角度无法直接测量，且外部力主要影响非线性弹性元件而非执行器，采用提出的基于肌肉的补偿控制重现修正后的运动。该方法已在肌骨骼类人机器人Musashi上验证有效性。
原文摘要 · Abstract (English)
While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far, they cannot completely absorb model errors, and recognition errors are also bound to occur. In this paper, we describe a method to modify the movement of the musculoskeletal humanoid by applying external force during the movement, taking advantage of its flexible body. Considering the fact that the joint angles cannot be measured, and that the external force greatly affects the nonlinear elastic element and not the actuator, the modified motion is reproduced by the proposed muscle-based compensation control. This method is applied to a musculoskeletal humanoid, Musashi, and its effectiveness is confirmed.
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