在双脚肌肉驱动系统中增强姿势强度和跳跃高度:一种生物灵感的形态发展方法
Nadine Badie1, Syn Schmitt1,2,3
1Institute for Modelling and Simulation of Biomechanical Systems, University of Stuttgart, Stuttgart, Germany.
Bioinspiration & biomimetics
|March 20, 2024
概括
受人类发展的启发,这项研究训练了一种具有变化的形态的肌肉驱动模型. 结果显示,开发策略可以提高机器人的强度和平衡和跳任务的性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物机械工程 生物机械工程
- 人工智能的人工智能
背景情况:
- 机器人缺乏人类在运动和学习方面的强度和适应能力.
- 人类的发展包括认知和身体形式 (形态) 的同时增长.
研究的目的:
- 调查模仿人类形态发展是否可以提高机器人的性能.
- 为了训练一个肌肉驱动的模型进行平衡和式跳跃任务,使用最佳的控制.
主要方法:
- 模拟训练一个肌肉激活的人类模型.
- 结合了突然的形态变化,从4岁过渡到12岁,然后成年形式.
- 进行了对比的本体遗传发育模拟,并对身体参数进行了统一的缩放.
主要成果:
- 这两种形态发展策略都显著超过了非发展方法.
- 观察到在平衡任务期间对干扰的强化稳定性.
- 在式跳跃任务中获得了更高的跳跃高度.
结论:
- 形态发展的生物学原理可以提高机器人的学习和性能,即使最初的设计不是理想的.
- 受人类生长的启发,形态的突然变化提高了适应能力和任务执行能力.
- 这种方法为开发更有能力和更有弹性的机器人提供了一条新的途径.
相关概念视频
Morphogenesis
Plant morphogenesis—the development of a plant’s form and structure—involves several overlapping developmental processes, including growth and cell differentiation. Precursor cells differentiate into specific cell types, which are organized into the tissues and organ systems that make up the functional plant.
Muscle Stimulation Frequency
The contraction strength of muscles is regulated by motor neurons, which modulate the frequency of action potentials dispatched to the motor units based on the body's requirements. This process of varying the muscle stimulation frequency allows muscles to contract with a force that is precisely tailored to the needs of the moment, whether lifting a feather or a heavy box.
Wave summation
At low firing rates, motor neurons induce individual twitch contractions in muscle fibers. These twitches...
Wave summation
At low firing rates, motor neurons induce individual twitch contractions in muscle fibers. These twitches...
Muscle Coordination and Action
Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement.
Muscles that Move the Leg
The movement of the legs is facilitated by numerous muscles located within the anterior, medial, and posterior compartments of the thigh.
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...
Muscles of the Leg that Move the Foot and Toes
The human leg comprises an intricate system of muscles that facilitate the movement of feet and toes. Within this system, the muscles are categorized into the anterior, lateral, and posterior compartments, each with a unique set of muscles carrying out specific functions.
Anterior Compartment
The anterior compartment includes muscles that contribute to the dorsiflexion of the foot. This compartment houses the tibialis anterior, extensor hallucis longus, and extensor digitorum longus muscles.
Anterior Compartment
The anterior compartment includes muscles that contribute to the dorsiflexion of the foot. This compartment houses the tibialis anterior, extensor hallucis longus, and extensor digitorum longus muscles.
Design Example: Frog Muscle Response
A student is tasked to work on an intriguing experiment involving an RL (Resistor-Inductor) circuit to study the muscle response of a frog's leg to electrical stimulation. The RL circuit plays a crucial role in this experiment, providing the means to control and measure the electrical impulses that trigger muscle contraction.
When the switch connecting the RL circuit is closed, a brief muscle contraction is observed. This is because, at a steady state, the inductor acts like a short circuit,...
When the switch connecting the RL circuit is closed, a brief muscle contraction is observed. This is because, at a steady state, the inductor acts like a short circuit,...


