典型文献
Control of Antagonistic McKibben Muscles via a Bio-inspired Approach
文献摘要：
McKibben muscles are increasingly used in many robotic applications due to their advantages of lightweight,compliant,and skeletal muscles-like behaviours.However,there are still huge challenges in the motion control of McKibben muscles due to the system nonlinearity(e.g.,hysteresis)and model uncertainties.To investigate the control issues,a soft artificial arm actuated by an antagonistic pair of McKibben muscles,mimicking the biological structure of skeleton-muscle systems,is developed.Inspired by the biological motor control capability that humans can control and coordinate a group of muscles to achieve complex motions,a cerebellum-like controller based on Spiking Neural Networks(SNNs)is employed for the motion control of the developed artificial arm.Benefit from the employment of the SNN-based cerebellar model,the pro-posed control scheme provides online adaptive learning capability,good computational efficiency,fast response,and strong robustness.Finally,several simulations and experiments are conducted subject to different environmental disturbances.Both simulation and experimental results verify that the proposed method can achieve good tracking performance,adaptability,and strong robustness.
文献关键词：
中图分类号：
作者姓名：
Xinyi Chen;Wenxin Zhu;Wenyu Liang;Yilin Lang;Qinyuan Ren
作者机构：
State Key Laboratory of Industrial Control Technology,Zhejiang University,310027 Hangzhou,Zhejiang,China;Institute for Infocomm Research,A*STAR,138632 Singapore,Singapore
文献出处：
引用格式：
[1]Xinyi Chen;Wenxin Zhu;Wenyu Liang;Yilin Lang;Qinyuan Ren-.Control of Antagonistic McKibben Muscles via a Bio-inspired Approach)[J].仿生工程学报（英文版）,2022(06):1771-1789
A类：
Antagonistic,McKibben,Muscles
B类：
Control,via,Bio,inspired,Approach,muscles,are,increasingly,used,many,robotic,applications,due,their,advantages,lightweight,compliant,skeletal,like,behaviours,However,there,still,huge,challenges,nonlinearity,hysteresis,model,uncertainties,To,investigate,issues,soft,artificial,arm,actuated,by,antagonistic,pair,mimicking,biological,structure,skeleton,systems,developed,Inspired,motor,capability,that,humans,can,coordinate,group,achieve,complex,motions,cerebellum,controller,Spiking,Neural,Networks,SNNs,employed,Benefit,from,employment,cerebellar,scheme,provides,adaptive,learning,good,computational,efficiency,fast,response,strong,robustness,Finally,several,simulations,experiments,conducted,subject,different,environmental,disturbances,Both,experimental,results,verify,proposed,method,tracking,performance,adaptability
AB值：
0.610754
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
