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http://hdl.handle.net/10119/9552
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| タイトル: | CPG based Self-adapting Multi-DOF Robotic Arm Control |
| 著者: | Yang, Woosung
Bae, Ji-Hun
Oh, Yonghwan
Chong, Nak Young
You, Bum-Jae
Oh, Sang-Rok |
| キーワード: | bio-inspired control
central pattern generator
self-adaptation
neural oscillator
virtual muscle |
| 発行日: | 2010-10-18 |
| 出版者: | Institute of Electrical and Electronics Engineers (IEEE) |
| 誌名: | The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| 開始ページ: | 4236 |
| 終了ページ: | 4243 |
| DOI: | 10.1109/IROS.2010.5651377 |
| 抄録: | Recently, biologically inspired control approaches for robotic systems that involve the use of central patterngenerators (CPGs) have been attracting considerable attention owing to the fact that most humans or animals move and walk easily without explicitly controlling their movements. Furthermore, they exhibit natural adaptive motions against unexpected disturbances or environmental changes without considering their kinematic configurations. Inspired by such novel phenomena, this paper endeavors to achieve self-adapting robotic arm motion. For this, biologically inspired CPG based control is proposed. In particular, this approach deals with crucial problems such as motion generation and repeatability of the joints emerged remarkably in most of redundant DOF systems. These problems can be overcome by employing a control based on artificial neural oscillators, virtual force and virtual muscle damping instead of trajectories planning andinverse kinematics. Biologically inspired motions can beattained if the joints of a robotic arm are coupled to neural oscillators and virtual muscles. We experimentally demonstrate self-adaptation motions that that enables a 7-DOF robotic arm to make adaptive changes from the given motion to a compliant motion. In addition, it is verified with real a real robotic arm that human-like movements and motion repeatability are satisfied under kinematic redundancy of joints. |
| Rights: | Copyright (C) 2010 IEEE. Reprinted from The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, 4236-4243. 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/10119/9552 |
| 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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