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.
|Number of pages
|Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
|Published - 2004
|2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands
Duration: Oct 10 2004 → Oct 13 2004
All Science Journal Classification (ASJC) codes
- General Engineering