Human Teaching with Muscle-Based Compensation Control (Humanoids 2020) скачать в хорошем качестве

Human Teaching with Muscle-Based Compensation Control (Humanoids 2020)

Title: Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control Authors: Kento Kawaharazuka, Yuya Koga, Manabu Nishiura, Yusuke Omura, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba Accepted at Humanoids2020 arxiv - https://arxiv.org/abs/2411.06323 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.