外观
论文arXiv 2603.1478713 天前
用于数据驱动控制的紧凑型气动驱动仿人上半身的动态特性与运动可复现性
原文链接：Dynamic properties and motion reproducibility of a compact pneumatically actuated humanoid upper body for data-driven control（arXiv 2603.14787 · 发布日期：2026-10-15）
Dynamic properties and motion reproducibility of a compact pneumatically actuated humanoid upper body for data-driven control
该研究面向气动高自由度机器人控制难题，分析13自由度上半身动态特性，并在4自由度手臂子系统验证数据驱动控制。
核心要点
- 气动仿人机器人适合物理人机交互，但执行器非线性使精确控制具有挑战。
- 研究开发紧凑型13自由度上半身机器人，考察延迟等动态特性与重复试验可复现性。
- 基于可复现行为，采用含显式时延补偿的多层感知机生成轨迹跟踪压力指令。
- 在4自由度手臂子系统对比中，数据驱动控制器跟踪误差低于传统PID控制器。
验证范围与局限：验证范围为紧凑型13自由度上半身机器人及其4自由度手臂子系统的比较评估。
英文摘要 (Abstract)
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent nonlinearities. This paper presents the development of a compact 13-DOF upper-body humanoid robot. To assess the feasibility of an effective controller, we first investigate its key dynamic properties, such as actuation time delays, and confirm that its behavior is reproducible across repeated trials. Leveraging this reproducibility, we implement a preliminary data-driven controller for a 4-DOF arm subsystem based on a multilayer perceptron with explicit time delay compensation. The network was trained on random movement data to generate pressure commands for tracking arbitrary trajectories. In comparative evaluations on this subsystem, the data-driven controller achieved lower tracking errors than a traditional PID controller. This result suggests that data-driven approaches are a promising option for controlling complex, high-DOF pneumatic robots.
作者：Hiroshi Atsuta, Hisashi Ishihara, Minoru Asada
来源
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