Anti-interference analysis of bio-inspired musculoskeletal robotic system

Abstract

Compared with general joint-link robotic systems, bio-inspired musculoskeletal robotic systems offer the advantages of higher robustness, flexibility, and redundancy. Hence, they are a promising option for the development of next-generation robots. However, theoretical analysis regarding the superiorities of musculoskeletal systems is scarce.This study analyzes and proves the anti-interference of a musculoskeletal system both mathematically and experimentally. a) A new method to calculate the control signals of a highly nonlinear and deeply coupled musculoskeletal system is proposed, and the redundancy range is provided. The result shows that each movement of the system can be realized by multiple control signals in a subspace. b) The anti-interference to control signals caused by the nonlinear driving mechanism of muscles and the coupled feedback effect of the skeletal system are analyzed. The simulation results prove that the bio-inspired musculoskeletal robotic arm has a smaller tracking error than the joint-link robotic arm under the same perturbations of the control signals.The theoretical analysis is consistent with the simulation results, thereby providing a theoretical reference for the application of bio-inspired musculoskeletal robotic systems.