Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles

摘要：

This study focuses on biomimetic sensory motor control of a robotic arm. We have developed a command circuit that was mathematically deduced from physical and mathematical constraints describing the function of cerebellar pathways. The control circuit contains an internal predictive model of the direct biomechanical function of the limb placed in a closed loop, so that the circuit computes an approximate inverse function. The structure of the model resembles the anatomic connectivity of the cerebellar pathways. In this paper, we present an application of this model to the control of a 2-link robotic arm actuated by four single-joint McKibben muscles and report the results obtained by simulation and real-time learning of 2 degrees of freedom pointing movements.

作者: Sofiane Ouanezar Fr(e)d(e)ric Jean Bertrand Tondu Marc A. Maier Christian Darlot Selim Eskiizmirliler

作者单位: Signal and Image Processing depart-ment ,TELECOM ParisTech,Paris,France Applied Mathematics Departement,ENSTA,Paris,France LATTIS Lab,INSA,Toulouse,France CESeM Lab,CNRS UMR 8194,Universit(e)Paris Descartes and Universit(e) Paris Diderot,Paris,France CESeM Lab,CNRS UMR 8194,Universit(e) Paris Descartes and Universit(e) Paris Diderot,Paris,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2785-2791

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）