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| m3_seminar:m3_seminar_2019:projects_ustutt:ep-control [2019/07/16 10:50] – emjay | m3_seminar:m3_seminar_2019:projects_ustutt:ep-control [2019/07/30 22:55] (current) – [Equilibrium-Point Control] stud_ustutt | ||
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| ====== Equilibrium-Point Control ====== | ====== Equilibrium-Point Control ====== | ||
| - | ^ Autors | Name Surname, Name Surname, Name Surname | + | ^ Autors | Pohl Steffen |
| ^ Betreuer | Marc Jacob | | ^ Betreuer | Marc Jacob | | ||
| ^ Bearbeitungsdauer | ca. 25 Stunden | | ^ Bearbeitungsdauer | ca. 25 Stunden | | ||
| - | ^ Präsentationstermin | + | ^ Präsentationstermin |
| <note tip> | <note tip> | ||
| Line 13: | Line 13: | ||
| ===== Introduction/ | ===== Introduction/ | ||
| - | At vero eos et accusamus et iusto odio dignissimos ducimus qui blanditiis praesentium voluptatum deleniti atque corrupti quos dolores et quas molestias excepturi sint occaecati cupiditate non provident, similique sunt in culpa qui officia deserunt mollitia animi, id est laborum et dolorum fuga. Et harum quidem rerum facilis est et expedita distinctio. Nam libero tempore, cum soluta nobis est eligendi optio cumque nihil impedit quo minus id quod maxime placeat facere possimus, omnis voluptas assumenda est, omnis dolor repellendus. Temporibus autem quibusdam et aut officiis debitis aut rerum necessitatibus saepe eveniet ut et voluptates repudiandae sint et molestiae non recusandae. Itaque earum rerum hic tenetur a sapiente delectus, ut aut reiciendis voluptatibus maiores alias consequatur aut perferendis doloribus asperiores repellat. | + | Basic EP-concept (EP = Equilibrium point) |
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| + | - The EP-Control System states, that a set of two actuators can act like a human muscles Agonist/ | ||
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| + | - The applied force depends on muscle length and stimulation: | ||
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| + | - The system is heading towards a certain joint angle depending on the realation of force and length of both actuators | ||
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| + | - Once the angle is reached, the joint stiffness can be modified by equally increasing or decreasing the applied forces in the actuators. | ||
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| + | - In our experiment, the used software defines sitffness and angle of the models joints which are automatically are translated in poses. Each of these poses define an Equilibrium Point | ||
| ===== Podcast ===== | ===== Podcast ===== | ||
| - | Sed ut perspiciatis unde omnis iste natus error sit voluptatem accusantium doloremque laudantium, totam rem aperiam, eaque ipsa quae ab illo inventore veritatis et quasi architecto beatae vitae dicta sunt explicabo. Nemo enim ipsam voluptatem quia voluptas sit aspernatur aut odit aut fugit, sed quia consequuntur magni dolores eos qui ratione voluptatem sequi nesciunt. Neque porro quisquam est, qui dolorem ipsum quia dolor sit amet, consectetur, | ||
| - | {{ : | + | Movement approaches via poses: |
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| + | - The first set of poses was designed to be as detailed as possible and utilized every possibly relevant angle | ||
| + | |||
| + | - The second set only used simple movement patterns. The more complex movements then resulted from the passive mechanics of the muscle system | ||
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| + | Resulting movement: | ||
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| + | - the first set of poses result in failure due to loss of balance | ||
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| + | - the second set shows a good result even without specific modelling | ||
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| + | {{ : | ||
| ===== Summary ===== | ===== Summary ===== | ||
| - | At vero eos et accusamus et iusto odio dignissimos ducimus qui blanditiis praesentium voluptatum deleniti atque corrupti quos dolores et quas molestias excepturi sint occaecati cupiditate non provident, similique sunt in culpa qui officia deserunt mollitia animi, id est laborum et dolorum fuga. Et harum quidem rerum facilis est et expedita distinctio. Nam libero tempore, cum soluta nobis est eligendi optio cumque nihil impedit quo minus id quod maxime placeat facere possimus, omnis voluptas assumenda est, omnis dolor repellendus. Temporibus autem quibusdam et aut officiis debitis aut rerum necessitatibus saepe eveniet ut et voluptates repudiandae sint et molestiae non recusandae. Itaque earum rerum hic tenetur | + | At the end, three conclusions were reached: |
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| + | 1. The system is able to head towards a target position without the need for an inverted model | ||
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| + | 2. Using rough and simple movement patterns looks more natural and is more stable | ||
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| + | 3. A comparison between both approaches rises the question whether biological movement is also just a product of simple, prototypical poses instead of detailed motions | ||
| ===== References ===== | ===== References ===== | ||
| - Bayer, A., Schmitt, S., Günther, M., Haeufle, D.F.B. (2017): The influence of biophysical muscle properties on simulating fast human arm movements. Computer Methods in Biomechanics and Biomedical Engineering 20(8), 11-24. https:// | - Bayer, A., Schmitt, S., Günther, M., Haeufle, D.F.B. (2017): The influence of biophysical muscle properties on simulating fast human arm movements. Computer Methods in Biomechanics and Biomedical Engineering 20(8), 11-24. https:// | ||
| - Christensen, | - Christensen, | ||