Energetic studies of a relegated control strategy for redundantly actuated musculoskeletal systems - Energetic studies of a relegated control strategy for redundantly actuated musculoskeletal systems - HRI-US
Energetic studies of a relegated control strategy for redundantly actuated musculoskeletal systems
In problems involving musculoskeletal control, the kinetic redundancies in musculoskeletal systems provide opportunity to optimize performance. A control strategy is proposed where the actuator functions are arbitrarily relegated (rather than using static or dynamic optimization) to two functional groups: gravity compensators and movement generators. In this paper, a quantitative method is proposed for actuator assignment whereby different sets of actuators are assigned to the two functional groups and the energetics of each set is observed. Simulations were performed to evaluate the efficiency of eleven different actuator groupings by comparing the computed adjusted mechanical work. A feedback linearization strategy is proposed to achieve a stable simulation while tracking the measurement
trajectory with negligible error. The optimal partitioning is shown to be task
specific; hence, the assignment of actuators to each functional group should be considered as a dynamic phenomena.