现代电子技术2024，Vol.47Issue(12)：129-137,9.DOI:10.16652/j.issn.1004-373x.2024.12.022
基于表面肌电非负矩阵分解算法的鸽子机器人后肢运动控制策略研究
Research on pigeon robot hind limb motion control strategy based on surface EMG nonnegative matrix decomposition algorithm
摘要
Abstract
In order to further research the neural mechanism of motion control of pigeon robot,the muscular synergism and similarity of the retractor leg movement of pigeon hind limb were analyzed under the condition of free movement and electric stimulation of dorsal intercollicular nucleus.The surface EMG signals of the hind limbs were collected for pre-processing,and the non-negative matrix factorization algorithm is used to decompose the muscle synergy under free motion and electrical stimulation of the dorsal colliculus into muscle contribution matrix and muscle activation coefficient matrix,respectively.Pearson correlation coefficient is used to calculate the similarity.The results show that in comparison with the free motion state,the muscle contribution value decomposed by electrical stimulation of the dorsal interchalamic nucleus was higher,the muscle activation time was earlier,the activation time was longer,and the similarity values of the muscle contribution matrix and activation coefficient matrix were larger.It indicates that under electrical stimulation,more muscle fibers generate excitement earlier,muscles contract faster and stronger,and the nervous system has a stronger control over the synergistic muscles,making motor behavior more coordinated and orderly,thus enabling strong behavioral responses to respond to stimuli quickly and effectively.关键词
鸽子机器人/后肢运动控制/肌肉协同/非负矩阵算法/背侧丘间核/相似性分析Key words
pigeon robot/hind limb motion control/muscle synergy/non-negative matrix algorithm/intercolliculus dorsalis/similarity analysis分类
信息技术与安全科学引用本文复制引用
姚文桢,张淋皓,常铭,张宇,槐瑞托,杨俊卿,常辉,汪慧..基于表面肌电非负矩阵分解算法的鸽子机器人后肢运动控制策略研究[J].现代电子技术,2024,47(12):129-137,9.基金项目
国家自然科学基金项目(61903230) （61903230）
山东省自然科学基金项目(ZR202103010716) （ZR202103010716）
山东省自然科学基金项目(AR2020MF098) （AR2020MF098）
