Muscle strength model optimizing method for humanoid robot synergic movement

Abstract

The invention provides a muscle strength model optimizing method for humanoid robot synergic movement. Programming and modeling are carried out on a human skeletal muscle simulation model, and a humanoid robot is designed and developed by reference to an experiment object; the humanoid robot is controlled to do the same movement by reference to the experiment object; movement detection data of the humanoid robot and output data of the human skeletal muscle simulation model are compared, design parameters of the humanoid robot and a muscle strength prediction formula in the simulation model are modified repeatedly until the design parameters and the formula are similar, and an optimized muscular strength prediction model is obtained. The muscle strength model optimizing method for the humanoid robot synergic movement can solve the problems that muscular strength during body movement can not be directly measured through experiments in biomechanics researches of a skeletal system and a muscular system, can only be calculated by means of a muscular strength model and is uncertain, and accuracy of the simulation model is improved.

Description

technical field [0001] The invention relates to a method for optimizing a muscle force model of a humanoid robot coordinated movement. Background technique [0002] The biomechanics research of human skeletal muscle is a multidisciplinary interdisciplinary research field, including clinical anatomy and medical image processing, multi-rigid body dynamics, human muscle layer modeling and numerical calculation of muscle force, etc., mainly through Virtual reality technology realizes the prediction and calculation of human body motion simulation and kinematics. [0003] At present, scholars at home and abroad have conducted relevant research and developed skeletal muscle simulation software. But generally speaking, the research on the human skeletal muscle system has its limitations: when modeling the geometric model of the human skeletal muscle system, due to the large simplification of human bones and muscles, the joints in the human skeletal muscle system lack accurate const...

AI Technical Summary

Problems solved by technology

But generally speaking, the research on the human skeletal muscle system has its limitations: when modeling the geometric model of the human skeletal muscle system, due to the large simplification of human bones and muscles, the joints in the human skeletal muscle system lack accurate constraints, resulting in The accuracy of the model is distorted; in the mathematical-mechanical model established for muscle force prediction, many elements mainly involve morphological indicators, and the distribution of force and strain among the elements is arbitrary or depends on the experimental model, which can only be used for muscle Qualitative research on the coordination mechanism between forces and forces, while the quantitative mechanism needs further research; the establishment of the best target optimization function that conforms to real human body control needs further exploration

These limitations ultimately lead to accuracy issues with skeletal muscle simulation models

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