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A kind of biomimetic control method to anthropomorphize a redundant manipulator for complex tasks

查看全文 作　　者：MO [1,2,3]Yang;JIANG [1,2,3]ZhiHong;LI [1,2,3]Hui;YANG [1,4]Hong;HUANG [1,2,3]Qiang 高影响力作者 机构地区：[1]School of Mechatronic Engineering,Beijing Institute of Technology,Beijing 100081,China;[2]Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing 100081,China;[3]Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing 100081,China;[4]Institute of Manned Spacecraft System Engineering,China Academy of Space Technology,Beijing 100080,China高影响力机构 出　　处：《Science China(Technological Sciences)》索引2020年第63卷第1期,共11页高影响力期刊 基　　金：supported by the National Key Research and Development Program of China(Grant No.2018YFB1305300);the Key Program of the National Natural Science Foundation of China(Grant Nos.61733001,U1713215);the National Natural Science Foundation of China(Grant Nos.61573063,61873039) 摘　　要：It is an urgent problem for robots to operate complex tasks with some unknown motion mechanisms caused by the strong coupling of force and motion. However, humans can perform complex tasks well due to their natural evolution and postnatal training. A novel biomimetic control method based on a human motion mechanism with high movement adaptability is proposed in this paper. The core is to present a novel variable-parameter compliance controller based on human operation mechanisms with an action-planning method derived from optimization by human motion, and the main contribution is to change the parameters of compliance controller according to human operating intention synchronized with humanoid motion;this change could establish a humanoid map between the force and motion for a seven degree-of-freedom redundant manipulator to deal with the unknown motion mechanism in complex tasks, so the redundant manipulator can operate complex tasks with high performance. Sufficient experiments were performed, and the results validated the effectiveness of the proposed algorithm. 关 键 词：redundant manipulator biomimetic control humanoid mapping complex task
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