CPG based Self-adapting Multi-DOF Robotic Arm Control

被引:33
|
作者
Yang, Woosung [1 ]
Bae, Ji-Hun [1 ]
Oh, Yonghwan [1 ]
Chong, Nak Young
You, Bum-Jae [1 ]
Oh, Sang-Rok [1 ]
机构
[1] Korea Inst Sci & Tech, Cognit Robot Ctr, Seoul, South Korea
来源
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词
MUSCULO-SKELETAL SYSTEM; HUMAN LOCOMOTION; MODEL;
D O I
10.1109/IROS.2010.5651377
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Recently, biologically inspired control approaches for robotic systems that involve the use of central pattern generators (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 and inverse kinematics. Biologically inspired motions can be attained 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.
引用
收藏
页码:4236 / 4243
页数:8
相关论文
共 50 条
  • [1] Flexible control mechanism for multi-DOF robotic arm based on biological fluctuation
    Fukuyori, Ippei
    Nakamura, Yutaka
    Matsumoto, Yoshio
    Ishiguro, Hiroshi
    FROM ANIMALS TO ANIMATS 10, PROCEEDINGS, 2008, 5040 : 22 - 31
  • [2] Development of a multi-DoF transhumeral robotic arm prosthesis
    Bandara, D. S. V.
    Gopura, R. A. R. C.
    Hemapala, K. T. M. U.
    Kiguchi, Kazuo
    MEDICAL ENGINEERING & PHYSICS, 2017, 48 : 131 - 141
  • [3] Autonomous Operation Method of Multi-DOF Robotic Arm Based on Binocular Vision
    Fan, Yiyao
    Lv, Xueying
    Lin, Jun
    Ma, Jianhang
    Zhang, Guanyu
    Zhang, Liu
    APPLIED SCIENCES-BASEL, 2019, 9 (24):
  • [4] A Multi-DOF Robotic Arm Manipulator Simulation and Visualization Platform
    Zhang, Yuzhu
    Meng, Xin
    Pan, Zhongshi
    MANUFACTURING PROCESS AND EQUIPMENT, PTS 1-4, 2013, 694-697 : 1662 - 1666
  • [5] Implementing Multi-DOF Trajectory Tracking Control System for Robotic Arm Experimental Platform
    Ai, Qingsong
    Yang, Qifan
    Li, Min
    Feng, Xiaorong
    Meng, Wei
    2018 10TH INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION (ICMTMA), 2018, : 282 - 285
  • [6] Design and Comparison of Two Control Strategies for Multi-DOF Articulated Robotic Arm Manipulator
    ul Islam, Raza
    Iqbal, Jamshed
    Khan, Qudrat
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2014, 16 (02): : 28 - 39
  • [7] Contour Tracking Control for Multi-DOF Robotic Manipulators
    Ouyang, P. R.
    Pano, V.
    Acob, J.
    2013 10TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2013, : 1491 - 1496
  • [8] Position domain contour control for multi-DOF robotic system
    Ouyang, P. R.
    Pano, V.
    Acob, J.
    MECHATRONICS, 2013, 23 (08) : 1061 - 1071
  • [9] Development of a control-assist mode multi-DOF bionic arm
    Manasa, K.
    Praveen, L. S.
    Nagananda, S. N.
    ENGINEERING RESEARCH EXPRESS, 2024, 6 (04):
  • [10] Nonlinear optimal control for multi-DOF robotic manipulators with flexible joints
    Rigatos, Gerasimos
    Abbaszadeh, Masoud
    OPTIMAL CONTROL APPLICATIONS & METHODS, 2021, 42 (06): : 1708 - 1733