Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces

Tetsuya Morizono, Kenji Tahara, Hitoshi Kino

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper considers experimental investigation of an antagonistically actuated robot manipulator. The focus of the investigation is how biarticular actuation contributes to control of the manipulator. Based on the feature that antagonistically robot manipulators can be controlled by feedforward control with constant inputs, this paper treats the case of PTP (point-to-point) control of robot postures. Due to expectation of difficulty for analytical approach, this paper takes experimental methodology of acquiring mappings between sensory and motor spaces by ANNs (artificial neural networks). Based on the idea that contribution of biarticular actuation may be influenced by choice of a sensory space, this paper considers not only joint angles of a manipulator but also Cartesian coordinate and angles in binocular visual space at the hand of the manipulator as sensory spaces. For each of them, the mappings obtained from trained ANNs are compared for the cases with and without biarticular actuation, based on interpolation performance of the ANNs examined through PTP control of the manipulator. The results of the comparison shows that choice of a sensory space is less effective to the interpolation performance in the case of biarticular actuation.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3573-3578
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - Jan 1 2015
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: Nov 9 2015Nov 12 2015

Publication series

NameIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period11/9/1511/12/15

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All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Morizono, T., Tahara, K., & Kino, H. (2015). Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 3573-3578). [7392655] (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392655