Abstract Traditional joint-link robots have been widely used in production lines because of their high precision for single tasks. With the development manufacturing and service industries, requirement comprehensive performance robotics is growing. Numerous types bio-inspired investigated to realize human-like motion control manipulation. A study route from inner mechanisms external structures proposed imitate humans animals better. this idea, a brain-inspired intelligent robotic system...

Purpose This study aims to propose a novel lightweight tendon-driven musculoskeletal arm (LTDM-arm) robot with flexible series–parallel mixed skeletal joint structure and modularized artificial muscle system (MAMS). The proposed LTDM-arm exhibits human-like flexibility, safety operational accuracy. In addition, improve the stability of LTDM-arm, control method is solve local overload accidents. Design/methodology/approach comprises seven degrees freedom skeletons, 15 MAMSs various sensor...

Abstract This paper presents a feedforward compensation approach for musculoskeletal systems (MSs). Compared with traditional rigid robots, human arms have the advantages of flexibility and safety in operation unstructured environments. However, influence external unknown disturbances, inner friction effects, dynamic uncertainties MS makes it difficult to model practically apply. In order reduce effects hardware platform over-relaxation/tension cable-pull drive, method cable-pulled...

High-precision position detection of joint and status monitoring speed reduction gearbox (SRG) are two key technologies in the research development selective compliant assembly robot arm (SCARA). The existing schemes have some problems, such as large occupation space, high cost, complex implementation, lack monitoring, etc. Therefore, first, order to get accurate information when SCARA is powered up at first time, a new combined incremental encoder with unevenly distributed multiple indexing...

Organisms naturally have extraordinary motor ability. They can autonomously control the highly redundant and nonlinear musculoskeletal system to complete fast flexible movements. Motor primitive theory proposed that a complex movement be realized by modular organization of simple patterns. This provides convincing theoretical basis for explaining ability organisms, has been supported plenty experimental evidences in neurosciences. As kind typical related regulation spinal system, convergent...

Compared to traditional robots employing joint-link structures, biologically inspired musculoskeletal offer superior compliance, dexterity, and robustness. However, applying reinforcement learning methods such in real-world scenarios is challenged by imperfect observation of feedback states, including partial observation, noise interference, time delay. To address these constraints enhance the motion robots, a memory, attention, muscle synergies based transfer method proposed. Specifically,...

Compared with the conventional articulated robotic arm, human arm has an irreplaceable advantage in manipulation due to its better robustness and flexibility. However, many mechanisms of musculoskeletal system have not been fully verified, such as robustness, compliance, dexterity, so on. In this work, we build a robot two muscles single joint based on new artificial muscle module motor drive cord traction. Subsequently, control method is proposed feedforward friction compensation for model...

Purpose The purpose of this study is realizing human-like motions and performance through musculoskeletal robots brain-inspired controllers. Human-inspired robotic systems, owing to their potential advantages in terms flexibility, robustness generality, have been widely recognized as a promising direction next-generation robots. Design/methodology/approach In paper, deep forward neural network (DFNN) controller was proposed inspired by the mechanisms equilibrium-point hypothesis (EPH)...

Energy storage system has played a great role in smoothing intermittent energy power fluctuations, improving voltage quality and providing flexible regulation. Whether the distribution network can realize complete consumption of renewable depends to large extent on whether configuration active is reasonable. This paper proposes distributed planning method considering correlation uncertainty new output. Firstly, based Cholesky decomposition, sampling load satisfying corresponding obtained...

Compared to general joint-link robotic systems, bioinspired musculoskeletal systems provide more potential advantages in terms of robustness, flexibility, and operation accuracy. Research on control structure has been a hot topic recent years, indicating that robots are promising option for next-generation robots. However, standard modeling analysis the system scarce; therefore, controller design stability proof still open questions. Based previous studies, we built standardized state-space...

Purpose This study aims to improve the muscle model control performance of a tendon-driven musculoskeletal system (TDMS) overcome disadvantages such as multisegmentation and strong coupling. An adaptive network controller (ANC) with disturbance observer is established reduce modeling error its antidisturbance ability. Design/methodology/approach In contrast other technologies adopted for humanoids, which use geometric relationships antagonist inhibition control, this develops method...

By analysing the reliability of several typical connection modes, a general relationship between index and number segments is obtained. The main factors affecting optimal segment are also discussed. In addition, considering both economy, quantitative expression for derived. Finally, an example given to verify correctness expression.

The traditional reliability of power supply only focuses on the continuity and does not include impact quality customers in assessment. In this paper, we use “the ability grid to provide continuously available customers” as criterion reflect more realistically level perceived by customers. This assessment, which is closer customer’s perspective, can also be used a basis for quality-based pricing electricity market that acceptable both supplier consumer, difference between consumption...

In view of the continuous improvement coupling degree cyber-physical system distribution network and large number access to power electronic equipment, traditional planning method cannot realize optimal allocation resources. This paper proposes a research on new energy with high penetration rate for massive scenarios. For coordinated lower AC DC network, fuzzy analytic hierarchy process is first used establish quality evaluation considering that indicators include voltage deviation. Four...

Abstract In an unstructured environment, the arm can perform complicated tasks with rapidity, flexibility, and robustness. It is difficult to configure multiple artificial muscles similar in compact space of a robotic arm. When muscle tension transferred, mechanisms like tendon-sheath/tendon-pulley may be installed develop musculoskeletal robots that are closer However, handling variable frictional nonlinearity elastic cable deformation necessary for transmission stability. this study,...

Bionic muscle-driven musculoskeletal systems can dynamically adjust the stiffness between active and antagonistic muscles to improve stability. However, they retain many problems, such as difficulty with sensory feedback control, which arises from strong coupling of models large computational loads encountered when optimizing muscle force online. In this study, based on a bionic model, an event-triggered-sliding-mode controller for discrete-time-muscle-driven system (MDMS) was designed drive...

In this study, a sliding muscle surface controller (SMSC) is designed to suppress disturbances and reduce uncertainty in the muscle-driven musculoskeletal system (MDMS). When performing manipulation tasks unstructured environments, bio-inspired robots are able exhibit more flexibility safety. Although model of MDMS can be solved by combining joint-link dynamics, influence unknown external dynamic uncertainties makes it difficult describe perfectly practice. order solve problems, with an...