Brain‐like functor control machine for general humanoidbiodynamics

摘要

A novel, brain‐like, hierarchical (affine‐neuro‐fuzzy‐topological) control for biomechanically realistic humanoid‐robot biodynamics (HB), formulated previously in [15, 16], is proposed in the form of a tensor‐invariant, “meta‐cybernetic” functor machine. It represents a physiologically inspired, three‐level, nonlinear feedback controller of muscular‐like joint actuators. On the spinal level, nominal joint‐trajectory tracking is formulated as an affine Hamiltonian control system, resembling the spinal (autogenetic‐reflex) “motor servo.” On the cerebellar level, a feedback‐control map is proposed in the form of self‐organized, oscillatory, neurodynamical system, resembling the associative interaction of excitatory granule cells and inhibitory Purkinje cells. On the cortical level, a topological “hyper‐joystick” command space is formulated with a fuzzy‐logic feedback‐control map defined on it, resembling the regulation of locomotor conditioned reflexes. Finally, both the cerebellar and the cortical control systems are extended to provide translational force control for moving 6‐degree‐of‐freedom chains of inverse kinematics.