筋内力を利用した位置制御手法の外力に対するロバスト性の実験的検証

抄録

In this paper, the robustness of a muscular internal force based position control method for a musculoskeletal system against an external disturbance force is validated experimentally. Up to now, we have proposed a combined control method that is composed of a muscular internal force based feed-forward control with an external sensing information. It is able to realize a PTP position regulation stably. It, however, has not discussed the robustness of the proposed controller against an external disturbance force. In order to validate it experimentally, firstly we perform experiments that the end-point is regulated to the desired position, and then an external disturbance force is added to the end-point using the proposed controller and the traditional P controller. By comparing their experimental results, the robustness of the proposed method is demonstrated.