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Bio-inspired Control Model for Object Manipulation by Humanoid Robots

  • Conference paper
Computational and Ambient Intelligence (IWANN 2007)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 4507))

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Abstract

This paper presents a bio-inspired control model for humanoid robots manipulating objects. Humanoids face several genuine problems: 1) they are not fixed (to the ground) therefore extreme forces generate noisy vibrations on the whole platform (robot body) and 2) rigid control (to avoid dynamic modelling) requires high power to be accurate and dramatically limits their autonomy. We compare a velocity vs a position driven control scheme in the framework of object manipulation. The velocity driven control scheme helps smoother control (reducing the jerks). Furthermore, we use an artificial neural network (RBF) to extract some features of the dynamic model automatically complementing the control scheme. Its performance is evaluated using a real robot platform. Experiments were done using the robot’s arm and trajectory data was collected during different trials manipulating different objects in order to acquire the model and evaluate how to use it to improve control accuracy.

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Author information

Authors and Affiliations

  1. Department of Computer Architecture and Technology, E.T.S.I. Infomática, University of Granada., 18071 Granada, Spain

    Silvia Tolu, Eduardo Ros & Rodrigo Agís

Authors
  1. Silvia Tolu
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  2. Eduardo Ros
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  3. Rodrigo Agís
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Editor information

Francisco Sandoval Alberto Prieto Joan Cabestany Manuel Graña

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© 2007 Springer-Verlag Berlin Heidelberg

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Tolu, S., Ros, E., Agís, R. (2007). Bio-inspired Control Model for Object Manipulation by Humanoid Robots. In: Sandoval, F., Prieto, A., Cabestany, J., Graña, M. (eds) Computational and Ambient Intelligence. IWANN 2007. Lecture Notes in Computer Science, vol 4507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73007-1_99

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  • DOI: https://doi.org/10.1007/978-3-540-73007-1_99

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-73006-4

  • Online ISBN: 978-3-540-73007-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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