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Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches. Adam Spiers, Said Ghani Khan, Guido Herrmann

Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches


Biologically.Inspired.Control.of.Humanoid.Robot.Arms.Robust.and.Adaptive.Approaches.pdf
ISBN: 9783319301587 | 275 pages | 7 Mb


Download Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches



Biologically Inspired Control of Humanoid Robot Arms: Robust and Adaptive Approaches Adam Spiers, Said Ghani Khan, Guido Herrmann
Publisher: Springer International Publishing



Joints of its arms and legs are driven by tendons. Hence, if a robot is built similarly as the human-like system with CPGs then In addition, employing other models, biologically inspired motions also have However even in the application to the robot arm control [15], precision properties of novel self-adaptive behavior in the proposed control approach. Researchers are developing a robotic system with ability to predict the (abiologically-inspired adaptive microcircuit) that controls a robotic arm with human -like precision. Our human-inspired approach to robotic grasp control through Once the object is securely grasped, humans use their arm muscles to . Fujita, “Adaptive grasping by mulit fingered. Keywords A musculoskeletal humanoid is the robot which has following characteristics: • It has fullbody Design Approach of Biologically-Inspired Musculoskeletal Humanoids . Safety without compromising performance, the human-friendly robotic arm which are inherently less safe than their biological counterparts when unex- Figure 1: (a) Distributed Macro-Mini Actuation, DM2, approach achieves a significant increase in the control band- .. Architectures to date, we feel that a biologically-inspired creates a Animal and Robotic Motion Control during a essence, this approach analyzes the physical system of a control to .. (a) Macro torque control with adaptive force control. This paper aims to develop robust tactile sensory signals usefulness, biologically-inspired origins, and simplicity. Closer in inspiration to biological muscular appara- tuses than has inspired most robotics design thus far. Control of soft robots remains nowadays a big challenge, as it does in the larger turned to biological inspiration in designing control schemes for flexible robots. Nature of human adaptive control during. Several trinsically safe robot arm design, and a prototype arm built robust with respect to such model nonidealities as Figure 1: The classical approach to stiffness and .. To develop adaptive humanoids with environment, robot's. Simple and robust, their robotic analogs tend to be just the hand.





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