Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model
Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model
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DOI：
10.20965/jrm.2010.p0315
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发表时间：
2010-06-01
影响因子：
1.1
通讯作者：
Ishiguro, Hiroshi
中科院分区：
文献类型：
--
作者：
Sugahara, Atsushi;Nakamura, Yutaka;Ishiguro, Hiroshi
由于动物在非结构化环境中生存，因此参考动物来开发执行实际任务的机器人将是有益的。在这项研究中，我们开发了一种模仿人类上肢解剖结构的类人机械臂。尽管人类可以灵活、鲁棒地控制自己的手臂，但由于其复杂性，用现有的控制方法来控制这种复杂的系统将是困难的。在本文中，我们提出了一种简单但灵活的控制机制，其灵感来自于一种名为“yuragi”的生物适应机制。我们将我们提出的方法应用到机器人的控制中，实验结果表明我们提出的方法适用于结构复杂的机器人的控制。
Since animals have survived in unstructured environments, it would be beneficial to refer to animals to develop a robot that operate practical tasks. In this research, we developed a human-like robotic arm imitating the anatomy of human upper limb. Although human can control his arm flexibly and robustly, controlling such complex system by existing control methods would be difficult because of its complexity. In this paper, we propose a simple but flexible control mechanism inspired by a biological adaptation mechanism called "yuragi." We applied our proposed method to the control of the robot, and experimental results show that our proposed method is applicable to the control of a robot with complex structure.