Flexible control mechanism for multi-DOF robotic arm based on biological fluctuation

被引：0
|
作者：
Fukuyori, Ippei [1 ]
Nakamura, Yutaka [1 ]
Matsumoto, Yoshio [1 ]
Ishiguro, Hiroshi [1 ]
机构：
[1] Osaka Univ, Grad Sch Engn, Osaka, Japan
来源：
FROM ANIMALS TO ANIMATS 10, PROCEEDINGS | 2008年 / 5040卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Controlling a highly dynamics and unknown system by existing control methods would be difficult because of its complexity. Recent biological studies reveal that animals utilize biological fluctuations to achieve adaptability to the environment and high flexibility. In this paper, we propose a simple, but flexible control method inspired by a biological adaptation mechanism. The proposed method is then applied to control robotic arms. The results of simulation indicated that our proposed method can be applied well to the control of a robot with multi-DOF.
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页码：22 / 31
页数：10
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