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http://hdl.handle.net/10119/9539
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| タイトル: | Biologically Inspired Control for Robotic Arm Using Neural Oscillator Network |
| 著者: | Yang, Woosung
Bae, Ji-Hun
Oh, Yonghwan
Chong, Nak Young
You, Bum Jae |
| キーワード: | Bio-inspired control
natural dynamics
neural oscillators
self-adaption
external disturbance |
| 発行日: | 2009-10 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009 |
| 開始ページ: | 135 |
| 終了ページ: | 141 |
| DOI: | 10.1109/IROS.2009.5354357 |
| 抄録: | It is known that biologically inspired neural systems could exhibit natural dynamics efficiently and robustly for motion control, especially for rhythmic motion tasks. Inaddition, humans or animals exhibit natural adaptive motionswithout considering their kinematic configurations againstunexpected disturbances or environment changes. In this paper, we focus on rhythmic arm motions that can be achieved by using a controller based on neural oscillators and virtual force. In comparison with conventional researches, this work treats neither trajectories planning nor inverse kinematics. Instead of those, a few desired points in task-space and a control method with Jacobian transpose and joint velocity damping are merely adopted. In addition, if the joints of robotic arms are coupled toneural oscillators, they may be capable of achieving biologically inspired motions corresponding to environmental changes. To verify the proposed control scheme, we perform some simulations to trace a desired motion and show the potential features related with self-adaptation that enables a three-link planar arm to make adaptive changes from the given motion to a compliant motion. Specifically, we investigate that human-likemovements and motion repeatability are satisfied underkinematic redundancy of joints. |
| Rights: | Copyright (C) 2009 IEEE. Reprinted from IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009, , 2009, 135-141. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/9539 |
| 資料タイプ: | publisher |
| 出現コレクション: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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