Name
Title | ||
|---|---|---|
Biologically inspired control algorithm for an unified motion of whole robotic arm-hand system |
Abstract | ||
|---|---|---|
Biologically inspired control approaches have been attracted much attention as alternatives in recent time, for efficiently solving problems in controlling multi-DOF robotic systems, since most human beings or animals exhibit their behaviors in a natural way without explicit computation. Also, they show natural adaptive behaviors irrespective of unexpected external forces or changes of environment. This work is inspired from these novel features. Thus, a self-adapting robotic arm-hand control is proposed exploiting a control scheme based on central pattern generators (CPGs). Instead of a trajectory planning and inverse kinematics problem, this work endeavors to exploit robotic systems coupled with neural oscillators and virtual forces with joint velocity damping. We demonstrate self-adapting motions without the ill-posedness from extensive simulations that enable a robotic arm-hand to make adaptive changes from the given motion to a compliant motion. In addition, it is verified that reaching-to-grasping motion is possible by adopting only transit points sustaining motion repeatability under kinematic redundancy of joints. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROMAN.2014.6926285 | RO-MAN |
Keywords | Field | DocType |
self-adapting motions,motion control,cpg,neurocontrollers,reaching-to-grasping motion,human beings,joint velocity damping,self-adapting robotic arm-hand control,inverse kinematics problem,natural adaptive behaviors,animals,biologically inspired control algorithm,neural oscillators,oscillations,extensive simulations,multidof robotic systems,velocity control,adaptive control,transit points,whole robotic arm-hand system,trajectory control,virtual forces,manipulator kinematics,unified motion,damping,trajectory planning,central pattern generators,kinematic joint redundancy,oscillators | Control algorithm,Robotic arm,Motion control,Inverse kinematics,Simulation,Computer science,Exploit,Central pattern generator,Adaptive behavior,Computation | Conference |
ISSN | Citations | PageRank |
1944-9445 | 2 | 0.35 |
References | Authors | |
13 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jaesung Kwon | 1 | 10 | 1.60 |
| Woosung Yang | 2 | 37 | 6.13 |
| Hosun Lee | 3 | 10 | 4.66 |
| Ji-hun Bae | 4 | 134 | 19.83 |
| Yong-Hwan Oh | 5 | 175 | 31.08 |