Robotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity

Title
Robotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity
Authors
배지훈양우성김도익오용환유범재오상록
Keywords
robot arm control; human-like motion; redundant robot; manipulation
Issue Date
2011-05
Publisher
ICRA 2011
Citation
, 1404-1411
Abstract
In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.
URI
http://pubs.kist.re.kr/handle/201004/39749
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KIST Publication > Conference Paper
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