人类形状的基手由激进分子-对抗分子皮质脊髓神经网络控制
Francisco García-Córdova1, Antonio Guerrero-González1, Fernando Hidalgo-Castelo1
1Department of Automation, Electrical Engineering, and Electronic Technology, Polytechnic University of Cartagena, 30203 Cartagena, Spain.
Sensors (Basel, Switzerland)
|May 11, 2024
概括
这项研究引入了一种新的皮质脊髓神经网络模型来控制机器人手的运动,模仿生物神经运动控制以提高机器人的灵巧性和适应性.
科学领域:
- 神经科学是一个神经科学.
- 机器人技术 机器人技术 机器人技术
- 控制理论 控制理论
背景情况:
- 生物系统中的自发运动控制是复杂的.
- 人形机器人系统需要复杂的控制灵巧.
研究的目的:
- 为人类形象机器人系统开发神经生物学控制模型.
- 模拟皮质脊髓通道来控制机器人手的运动.
主要方法:
- 开发了一个皮质脊髓神经网络模型.
- 该模型模拟皮质和脊柱区域及其连接.
- 该系统被测试在一个机器人手上,手上有激动-对抗肌.
主要成果:
- 控制器生成了生物相关的运动特性,包括不对称的速度配置文件.
- 该系统使用感官反来证明对干扰的动态补偿.
- 机器人手的动作显示出强度和适应性.
结论:
- 生物启发的自适应神经控制系统对于机器人平台来说是强大而可靠的.
- 皮质脊髓网络有效地将生物概念与工程控制理论相结合.
- 这项研究促进了对神经运动控制和人形机器人的理解.
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