CPG-Based manipulation: Ggeneration of rhythmic finger gaits from human observation

被引：15

作者：

Kurita, Y ^{[1
]}

Ueda, J ^{[1
]}

Matsumoto, Y ^{[1
]}

Ogasawara, T ^{[1
]}

机构：

[1] Nara Inst Sci & Technol, Grad Sch Informat Sci, Robot Lab, Nara, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307989

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A number of researches for the dextrous manipulation have been studied in robotics and physiologic fields independently. Multi-fingered manipulation for dextrous robot hands should be based on analysis of human skills. The purpose of this study is to apply CPG-based control to the dextrous manipulation. In this paper, CPG-based manipulation is proposed for the rotating manipulation of the dextrous hands. Finger manipulation patterns are investigated when a subject rotates a cylindrical object. Typical contact patterns during rotating manipulation are measured by FSRs. Based on the observation, the neural circuit model which generates a similar contact pattern is constructed. The experimental results by the computer simulation suggest that rotating manipulation can be performed using the constructed CPG model.

引用

页码：1209 / 1214

页数：6

共 16 条

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