Simulation Design of Muscle Robotic Arm Controller Based on EPC Feedforward

DOI

10.2991/978-94-6463-821-9_23How to use a DOI?

Keywords

EPC Controller; Mujoco Engine Simulation; Bionic Muscle Model

Abstract

Coupled nonlinear muscle control and non-tracking control have become key research focuses in recent years as effective control solutions for coupled nonlinear systems. Equilibrium Point Control (EPC) as a non-tracking controller based on Particle balance theory has a wide range of application prospects. Based on parameters from real experiments, a simulation model is constructed using the MuJoCo engine, and the Generalized State Control (GSC) is introduced to mitigate the bias inherent in EPC. To mitigate the end-effector oscillation issue associated with traditional EPC controllers, a model-based motion variable feedback approach was introduced, significantly enhancing the performance of the EPC. Finally, a solution was proposed to reduce the model instability caused by the introduction of feedback. Experimental results indicate that the improved Feedback EPC (FEPC) significantly outperforms the original approach in the simulated muscle model. However, the introduction of feedback causes the model to become unstable under GSC. Consequently, it is necessary to design a suitable segmented control scheme tailored to specific control requirements. Through in-depth research, the improved FEPC is expected to become a superior enhancement to the traditional EPC control scheme.

Copyright

© 2025 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Shuo Jiao
PY  - 2025
DA  - 2025/08/31
TI  - Simulation Design of Muscle Robotic Arm Controller Based on EPC Feedforward
BT  - Proceedings of the 2025 2nd International Conference on Mechanics, Electronics Engineering and Automation (ICMEEA 2025)
PB  - Atlantis Press
SP  - 200
EP  - 212
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-821-9_23
DO  - 10.2991/978-94-6463-821-9_23
ID  - Jiao2025
ER  -