Biologically Inspired Control for Robotic Arm using Neural Oscillator Network

Title
Biologically Inspired Control for Robotic Arm using Neural Oscillator Network
Authors
양우성배지훈오용환정낙영유범재
Keywords
Biologically inspired; CPG; Robot Arm
Issue Date
2009-10
Publisher
2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
Citation
, 135-141
Abstract
It is known that biologically inspired neural systems could exhibit natural dynamics efficiently and robustly for motion control, especially for rhythmic motion tasks. In addition, humans or animals exhibit natural adaptive motions without considering their kinematic configurations against unexpected 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 to neural 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-like movements and motion repeatability are satisfied under kinematic redundancy of joints.
URI
https://pubs.kist.re.kr/handle/201004/36814
Appears in Collections:
KIST Publication > Conference Paper
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