Robotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity
In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.
Robot arm control Human-like motion Redundant robots Manipulation
Ji-Hun Bae Woosung Yang Doik Kim Yonghwan Oh Bum-Jae You Sang-Rok Oh
Department of Applied Robot Technology,Korea Institute of Industrial Technology,Ansan R&D Center,127 Human Factors & Devices Research Team,Central Advanced Research & Engineering Institute of Hyundai M Cognitive Robotics Center,Korea Institute of Science & Technology,P.O. BOX 131,Cheongryang,Seoul 130
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1404-1411
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）