ouanezar, sofiane (TELECOM ParisTech), Eskiizmirliler, Selim (University of Paris Descartes), Jean, Frédéric (UMA, ENSTA), Tondu, Bertrand (University of Toulouse), Maier, Marc (ANIM - Unité 742 Inserm), Darlot, Christian (TSI, TELECOM ParisTech)

Biologically Inspired Sensory Motor Control of a 2-Link Robotic Arm Actuated by McKibben Muscles

Scheduled for presentation during the Regular Sessions "Novel Actuators I" (WeA109), Wednesday, May 11, 2011, 09:20−09:35, Room 5D

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 July 14, 2020

Abstract

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.