Flexible Control Mechanism for Multi-DOF Robotic Arm Based on Biological Fluctuation View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2008

AUTHORS

Ippei Fukuyori , Yutaka Nakamura , Yoshio Matsumoto , Hiroshi Ishiguro

ABSTRACT

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. More... »

PAGES

22-31

References to SciGraph publications

  • 2008. Policy Learning for Motor Skills in NEURAL INFORMATION PROCESSING
  • Book

    TITLE

    From Animals to Animats 10

    ISBN

    978-3-540-69133-4
    978-3-540-69134-1

    Author Affiliations

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-540-69134-1_3

    DOI

    http://dx.doi.org/10.1007/978-3-540-69134-1_3

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1007067335


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