Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots
Human beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nerv...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2020-09-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2020.00117/full |
| _version_ | 1818276600389566464 |
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| author | Franco Angelini Franco Angelini Franco Angelini Cosimo Della Santina Cosimo Della Santina Cosimo Della Santina Manolo Garabini Manolo Garabini Matteo Bianchi Matteo Bianchi Antonio Bicchi Antonio Bicchi Antonio Bicchi |
| author_facet | Franco Angelini Franco Angelini Franco Angelini Cosimo Della Santina Cosimo Della Santina Cosimo Della Santina Manolo Garabini Manolo Garabini Matteo Bianchi Matteo Bianchi Antonio Bicchi Antonio Bicchi Antonio Bicchi |
| author_sort | Franco Angelini |
| collection | DOAJ |
| description | Human beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nervous system. Regarding point (i), the introduction of compliant elements in the robotic structure can be regarded as an attempt to bridge the gap between the animal body and the robot one. Soft articulated robots aim at replicating the musculoskeletal characteristics of vertebrates. Yet, substantial advancements are still needed under a control point of view, to fully exploit the new possibilities provided by soft robotic bodies. This paper introduces a control framework that ensures natural movements in articulated soft robots, implementing specific functionalities of the human central nervous system, i.e., learning by repetition, after-effect on known and unknown trajectories, anticipatory behavior, its reactive re-planning, and state covariation in precise task execution. The control architecture we propose has a hierarchical structure composed of two levels. The low level deals with dynamic inversion and focuses on trajectory tracking problems. The high level manages the degree of freedom redundancy, and it allows to control the system through a reduced set of variables. The building blocks of this novel control architecture are well-rooted in the control theory, which can furnish an established vocabulary to describe the functional mechanisms underlying the motor control system. The proposed control architecture is validated through simulations and experiments on a bio-mimetic articulated soft robot. |
| first_indexed | 2024-12-12T22:48:13Z |
| format | Article |
| id | doaj.art-c337bc70f91f4de9a122d164a5d5b5ef |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-12T22:48:13Z |
| publishDate | 2020-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-c337bc70f91f4de9a122d164a5d5b5ef2022-12-22T00:09:09ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442020-09-01710.3389/frobt.2020.00117557910Control Architecture for Human-Like Motion With Applications to Articulated Soft RobotsFranco Angelini0Franco Angelini1Franco Angelini2Cosimo Della Santina3Cosimo Della Santina4Cosimo Della Santina5Manolo Garabini6Manolo Garabini7Matteo Bianchi8Matteo Bianchi9Antonio Bicchi10Antonio Bicchi11Antonio Bicchi12Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, ItalySoft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, ItalyDipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, ItalyRobotic Mechatronic Center, German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Cologne, GermanyDepartment of Informatics, Technical University Munich, Munich, GermanyCognitive Robotics Department, Delft University of Technology, Delft, NetherlandsCentro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, ItalyDipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, ItalyDipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, ItalySoft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, ItalyDipartimento di Ingegneria dell'Informazione, Università di Pisa, Pisa, ItalyHuman beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nervous system. Regarding point (i), the introduction of compliant elements in the robotic structure can be regarded as an attempt to bridge the gap between the animal body and the robot one. Soft articulated robots aim at replicating the musculoskeletal characteristics of vertebrates. Yet, substantial advancements are still needed under a control point of view, to fully exploit the new possibilities provided by soft robotic bodies. This paper introduces a control framework that ensures natural movements in articulated soft robots, implementing specific functionalities of the human central nervous system, i.e., learning by repetition, after-effect on known and unknown trajectories, anticipatory behavior, its reactive re-planning, and state covariation in precise task execution. The control architecture we propose has a hierarchical structure composed of two levels. The low level deals with dynamic inversion and focuses on trajectory tracking problems. The high level manages the degree of freedom redundancy, and it allows to control the system through a reduced set of variables. The building blocks of this novel control architecture are well-rooted in the control theory, which can furnish an established vocabulary to describe the functional mechanisms underlying the motor control system. The proposed control architecture is validated through simulations and experiments on a bio-mimetic articulated soft robot.https://www.frontiersin.org/article/10.3389/frobt.2020.00117/fullmotion control algorithmmotor controlnatural machine motionarticulated soft robotshuman-inspired controlcompliant actuation |
| spellingShingle | Franco Angelini Franco Angelini Franco Angelini Cosimo Della Santina Cosimo Della Santina Cosimo Della Santina Manolo Garabini Manolo Garabini Matteo Bianchi Matteo Bianchi Antonio Bicchi Antonio Bicchi Antonio Bicchi Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots Frontiers in Robotics and AI motion control algorithm motor control natural machine motion articulated soft robots human-inspired control compliant actuation |
| title | Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots |
| title_full | Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots |
| title_fullStr | Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots |
| title_full_unstemmed | Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots |
| title_short | Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots |
| title_sort | control architecture for human like motion with applications to articulated soft robots |
| topic | motion control algorithm motor control natural machine motion articulated soft robots human-inspired control compliant actuation |
| url | https://www.frontiersin.org/article/10.3389/frobt.2020.00117/full |
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