生物系および機械系における冗長性に関する研究(OS.5 最適化技術の応用)

概要

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Various kinds of redundancies are often found in view of material, structural, mechanical and control properties in bio-systems. Through our series of studies, such redundancies are analysed by simple models and evaluated from engineering points of view. The obtained results by the analysis will be applied to develop new mechanical systems with redundancies. Here an arm of human body is considered and modeled by planar 3-Links arm. These links are driven by actuators modeling muscles. Among the muscles of the arm, pairs of antagonistic muscles can have redundancies. Parameter for anglle α and existence of antagonistic muscles are taken as the design variables and optimal paths and forces of muscles are determined by Genetic Algorithms to minimize the objective functions. Obtained results are examined from many standpoints fo view.
社団法人日本機械学会の論文
2004-03-03