Human-inspired motion model of upper-limb with fast response and learning ability - a promising direction for robot system and control

doi:10.1108/AA-11-2015-099

CSpace

	Human-inspired motion model of upper-limb with fast response and learning ability - a promising direction for robot system and control
	Qiao, Hong 1; Li, Chuan 1; Yin, Peijie 2; Wu, Wei 1; Liu, Zhi-Yong 3
	2016
发表期刊	ASSEMBLY AUTOMATION
ISSN	0144-5154
卷号	36 期号:1 页码:97-107
摘要	Purpose - Human movement system is a Multi-DOF, redundant, complex and nonlinear system formed by coordinating combination of neural system, bones, muscles and joints, which is robust and has fast response and learning ability. Imitating human movement system can improve robustness, fast response and learning ability of the robots. Design/methodology/approach - In this paper, we propose a new motion model based on the human motion pathway, especially the information propagation mechanism between the cerebellum and spinal cord. Findings - The proposed motion model proves to have fast response and learning ability through experiments, which matches the features of human motion. Originality/value - The proposed model in this paper introduces the habitual theory in kinesiology and neuroscience into robot control, and improves robustness, fast response and learning ability of the robots. This paper proves that introduction of neuroscience has an important guiding significance for precise and adaptive robot control, such as assembly automation.
关键词	Learning ability Dynamic simulation Fast response ability High precision Muscle-skeleton simulation
DOI	10.1108/AA-11-2015-099
语种	英语
资助项目	National Natural Science Foundation of China[61210009] ; National Natural Science Foundation of China[31200829]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing
WOS记录号	WOS:000373372000010
出版者	EMERALD GROUP PUBLISHING LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/22449
专题	中国科学院数学与系统科学研究院
通讯作者	Qiao, Hong
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Appl Math, Beijing, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Qiao, Hong,Li, Chuan,Yin, Peijie,et al. Human-inspired motion model of upper-limb with fast response and learning ability - a promising direction for robot system and control[J]. ASSEMBLY AUTOMATION,2016,36(1):97-107.
APA	Qiao, Hong,Li, Chuan,Yin, Peijie,Wu, Wei,&Liu, Zhi-Yong.(2016).Human-inspired motion model of upper-limb with fast response and learning ability - a promising direction for robot system and control.ASSEMBLY AUTOMATION,36(1),97-107.
MLA	Qiao, Hong,et al."Human-inspired motion model of upper-limb with fast response and learning ability - a promising direction for robot system and control".ASSEMBLY AUTOMATION 36.1(2016):97-107.