ICRA 2011 Paper Abstract


Paper TuP107.4

Bae, Ji-Hun (Korea Institute of Industrial Technology), Yang, Woosung (Hyundai Motor Company), Kim, Doik (KIST), Oh, Yonghwan (KIST), YOU, BUM JAE (KIST), Oh, Sang-Rok (KIST)

Robotic Arm Control Inspired by Human Muscle Fatigue under the Gravity

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots III" (TuP107), Tuesday, May 10, 2011, 14:25−14:40, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Biologically-Inspired Robots, Motion Control of Manipulators, Redundant Robots


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.



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