Bio-mimetic control for whole arm cooperative manipulation

Fumihiko Asano, Zhi Wei Luo, Masaki Yamakita, Kenji Tahara, Shigeyuki Hosoe

研究成果: ジャーナルへの寄稿Conference article

2 引用 (Scopus)

抄録

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.

元の言語英語
ページ(範囲)704-709
ページ数6
ジャーナルConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
1
出版物ステータス出版済み - 12 1 2004
外部発表Yes
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 200410 13 2004

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Skin
Point contacts
Biomimetics
End effectors
Redundancy
Computer simulation

All Science Journal Classification (ASJC) codes

  • Engineering(all)

これを引用

Bio-mimetic control for whole arm cooperative manipulation. / Asano, Fumihiko; Luo, Zhi Wei; Yamakita, Masaki; Tahara, Kenji; Hosoe, Shigeyuki.

:: Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 巻 1, 01.12.2004, p. 704-709.

研究成果: ジャーナルへの寄稿Conference article

Asano, Fumihiko ; Luo, Zhi Wei ; Yamakita, Masaki ; Tahara, Kenji ; Hosoe, Shigeyuki. / Bio-mimetic control for whole arm cooperative manipulation. :: Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2004 ; 巻 1. pp. 704-709.
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