Position control of a musculoskeletal system: an effective combination of a feed-forward and feedback manner
Event details
| Date | 07.12.2015 |
| Hour | 10:00 |
| Speaker | Prof. Kenji Tahara, Kyushu University, Fukuoka, Japan |
| Location | |
| Category | Conferences - Seminars |
Movements of human are still more smooth and dexterous than that of present robotic systems. It is said that these sophisticated movements are conducted by the appropriate combination of two main control strategies, a feed-forward control using proprioceptive information and a feedback control using a lot of sensory information such as visual or tactile information. It is known that the sensory feedback control loop of a human body contains a considerable time-delay.
In particular, the visual feedback loop has more than 100 [ms] delay from just a sensing moment to its response movement. Therefore, it is hard to accomplish a agile movement conducted within shorter than dozens of milliseconds by only using the sensory feedback control manner. Meanwhile, making only use of the feed-forward control manner must be difficult to perform an accurate and robust positioning in unknown environments. Namely, both the feed-forward and feedback control manners play each crucial role in the strategy of a human body movement.
In this talk, the control strategy for the musculoskeletal system which combines a muscle internal force feed-forward control and a task-space feedback control including a considerable time-delay. By using both the feed-forward and feedback control, a robust reaching movement can be accomplished. The effectiveness of our proposed controller is illustrated through numerical simulation results.
Bio: Kenji Tahara received B.S., M.S., and Ph.D. degrees in Robotics from Ritsumeikan University, in 1998, 2000 and 2003, respectively. He was a Research Scientist of the Bio-Mimetic Control Research Center at RIKEN from 2003 to 2007, and a Research Associate Professor of the Institute of Advanced Study at Kyushu University from 2007 to 2011. He is currently an Associate Professor of the Department of Mechanical Engineering at Kyushu University, Japan. He stayed LASA laboratory administered by Prof. Billard at EPFL as a visiting researcher from 2013 to 2014. His current research interests include mechanics and control of multi-fingered robotic hand and human musculoskeletal body movements.
In particular, the visual feedback loop has more than 100 [ms] delay from just a sensing moment to its response movement. Therefore, it is hard to accomplish a agile movement conducted within shorter than dozens of milliseconds by only using the sensory feedback control manner. Meanwhile, making only use of the feed-forward control manner must be difficult to perform an accurate and robust positioning in unknown environments. Namely, both the feed-forward and feedback control manners play each crucial role in the strategy of a human body movement.
In this talk, the control strategy for the musculoskeletal system which combines a muscle internal force feed-forward control and a task-space feedback control including a considerable time-delay. By using both the feed-forward and feedback control, a robust reaching movement can be accomplished. The effectiveness of our proposed controller is illustrated through numerical simulation results.
Bio: Kenji Tahara received B.S., M.S., and Ph.D. degrees in Robotics from Ritsumeikan University, in 1998, 2000 and 2003, respectively. He was a Research Scientist of the Bio-Mimetic Control Research Center at RIKEN from 2003 to 2007, and a Research Associate Professor of the Institute of Advanced Study at Kyushu University from 2007 to 2011. He is currently an Associate Professor of the Department of Mechanical Engineering at Kyushu University, Japan. He stayed LASA laboratory administered by Prof. Billard at EPFL as a visiting researcher from 2013 to 2014. His current research interests include mechanics and control of multi-fingered robotic hand and human musculoskeletal body movements.
Practical information
- General public
- Free
Organizer
- Prof. Aude Billard & Prof. Juergen Brugger
Contact
- Prof. Aude Billard & Prof. Juergen Brugger