Bio-inspired control model for object manipulation by humanoid robots

Silvia Tolu, Eduardo Ros, Rodrigo AgiÌis

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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. © Springer-Verlag Berlin Heidelberg 2007.
Original languageEnglish
Title of host publicationComputational and Ambient Intelligence
Volume4507 LNCS
PublisherSpringer
Publication date2007
Pages822-829
ISBN (Print)978-3-540-73006-4
Publication statusPublished - 2007
Externally publishedYes
Event9th International Work-Conference on Artificial Neural Networks - San Sebastián, Spain
Duration: 20 Jun 200722 Jun 2007
Conference number: 9
http://iwann.ugr.es/2007/index.html

Conference

Conference9th International Work-Conference on Artificial Neural Networks
Number9
CountrySpain
CitySan Sebastián
Period20/06/200722/06/2007
Internet address
SeriesLecture Notes in Computer Science
Volume4507
ISSN0302-9743

Keywords

  • Mathematical models
  • Position control
  • Problem solving
  • Velocity control
  • Vibration analysis
  • Mobile robots
  • T
  • Bio-inspired control
  • Humanoid
  • Modelization
  • Radial basis functions (RBFs)
  • Velocity driven control scheme

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