This paper studies modeling and biomimetic control of a 3D 8-dof whole arm cooperative manipulation system using sensitive skin. The control law is designed based on integration of voluntary movement and reflex considering the system's redundancy. The voluntary task for holding the object is realized by impedance control at four contact points with the object using the contact force information from the sensitive skin. The reflection on the other hand is introduced as a regulation problem of the direction between the points of end-effectors and elbows. We then investigate the exact solutions for the combined motion and their solvable conditions. The validity of the proposed method is investigated by numerical simulations.
|ジャーナル||Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics|
|出版物ステータス||出版済み - 12 1 2004|
|イベント||2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, オランダ|
継続期間: 10 10 2004 → 10 13 2004
All Science Journal Classification (ASJC) codes