Artificial neural control method for upper limb motions of humanoid robot

A control method and robot technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to meet real-time control, huge calculation amount, etc., to reduce calculation amount, speed up reaction speed, and achieve high precision Effect

Active Publication Date: 2016-04-06
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

However, when dealing with complex robot motion systems, this method will generate a

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  • Artificial neural control method for upper limb motions of humanoid robot
  • Artificial neural control method for upper limb motions of humanoid robot
  • Artificial neural control method for upper limb motions of humanoid robot

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Embodiment Construction

[0042] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0043] The nerve-like control method of the upper limb movement of a humanoid robot of the present invention includes two parts: the construction of the model and the template, the selection of the template and the control output:

[0044] Part 1: Construction of models and templates:

[0045] Step A1, establishing the upper limb dynamics model D of the humanoid robot;

[0046] The upper limb dynamic model D of the humanoid robot is established based on sequential modeling of various upper limb movement processes of the human body. The upper limb movement process includes muscle activation, muscle contraction, joint movement and other processes. The analysis diagram of the dynamic model of human upper limbs is as follows...

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Abstract

The invention discloses an artificial neural control method for upper limb motions of a humanoid robot. The method comprises a first part of establishing a model and templates, and a second part of selecting the templates and controlling output. The first part comprises establishment of the upper limb dynamic model and the initial motion templates of the humanoid robot. The second part comprises the steps that (1) a new motion task position is given; (2) the motion templates are selected in a distinguished manner according to the quantity of execution times of the step; (3) based on a weight and a control signal of each motion template, a control signal needed by the new motion task is calculated, and a destination position of upper and lower limb motions under the signal is calculated; and (4) circulating execution conditions are set, and the steps (2), (3) and (4) are repeated, the final motion template of the new tasks is output, and the motion is executed. The method has the advantages that the calculation quantity is greatly reduced; the responding speed is increased; and learning capability is strengthened.

Description

technical field [0001] The invention relates to a control method for the motion of a humanoid robot, in particular to a control method for the upper limb motion of a humanoid tendon robot. Background technique [0002] Traditional robots use joint motors as the main driving method to inversely solve the motion control matrix through the transformation relationship between joints, which has disadvantages such as complex coordinate conversion, large amount of calculation, low flexibility, and poor adaptability. As one of the development directions of next-generation intelligent robot technology, humanoid robot adopts humanoid muscle-joint structure, which has stronger flexibility, versatility and reliability. However, due to its special structural design, the degree of freedom and nonlinearity of the motion model are increased, and the calculation process of the reverse solution to the model is cumbersome and the amount of calculation is huge. Therefore, higher requirements ar...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/041
Inventor 乔红尹沛劼吴伟李川陈嘉浩
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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