Bio-mimetic control for whole arm cooperative manipulation

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

Bio-mimetic control for whole arm cooperative manipulation

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

Research output: Contribution to journal › Conference article › peer-review

Abstract

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.

Original language	English
Pages (from-to)	704-709
Number of pages	6
Journal	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume	1
Publication status	Published - 2004
Externally published	Yes
Event	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

Cite this

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title = "Bio-mimetic control for whole arm cooperative manipulation",

abstract = "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.",

author = "Fumihiko Asano and Luo, \{Zhi Wei\} and Masaki Yamakita and Kenji Tahara and Shigeyuki Hosoe",

year = "2004",

language = "English",

volume = "1",

pages = "704--709",

journal = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",

issn = "1062-922X",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 ; Conference date: 10-10-2004 Through 13-10-2004",

}

TY - JOUR

T1 - Bio-mimetic control for whole arm cooperative manipulation

AU - Asano, Fumihiko

AU - Luo, Zhi Wei

AU - Yamakita, Masaki

AU - Tahara, Kenji

AU - Hosoe, Shigeyuki

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/15744362015

UR - https://www.scopus.com/inward/citedby.url?scp=15744362015&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:15744362015

SN - 1062-922X

VL - 1

SP - 704

EP - 709

JO - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

JF - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

T2 - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004

Y2 - 10 October 2004 through 13 October 2004

ER -

Bio-mimetic control for whole arm cooperative manipulation

Abstract

All Science Journal Classification (ASJC) codes

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