反射とその適応的な抑制による腱駆動型ロボットの軌道追従制御

Abstract

In this paper, a trajectory tracking control method for the tendon-driven robot is presented. In the human motor control system, it is known that the spinal reflex and the cerebellum play a key role to achieve the desired limb motions and have some characteristic structures different from the conventional robot control systems, such as the internal positive feedback loops. From the viewpoint of control, the positive feedback is inconvenient since it might potentially destabilize the limb motion. However, in the biological system, the positive feedback is actively used rather than avoided and has significant role to achieve the natural human limb motions. Thus, in this paper, we attempted to establish a trajectory tracking controller for the tendon-driven robots with reference to the biological control system composed of the spinal cord and cerebellum. The stability of the controlled system was proven along the Popov's hyper-stability theory. The effectiveness of the proposed controller was demonstrated through some computer simulations and experiments using a 2 link tendon-driven robot.