Flexible Control Mechanism for Multi-DOF Robotic Arm Based on Biological Fluctuation Export

@incollection{FUK08, abstract = {Controlling a highly dynamics and unknown system by existing control methods would be difficult because of its complexity. Recent biological studies reveal that animals utilize biological fluctuations to achieve adaptability to the environment and high flexibility. In this paper, we propose a simple, but flexible control method inspired by a biological adaptation mechanism. The proposed method is then applied to control robotic arms. The results of simulation indicated that our proposed method can be applied well to the control of a robot with multi-DOF.}, author = {Fukuyori, Ippei and Nakamura, Yutaka and Matsumoto, Yoshio and Ishiguro, Hiroshi}, citeulike-article-id = {4284517}, citeulike-linkout-0 = {http://dx.doi.org/10.1007/978-3-540-69134-1_3}, citeulike-linkout-1 = {http://www.springerlink.com/content/5374236871651200}, doi = {10.1007/978-3-540-69134-1_3}, journal = {From Animals to Animats 10}, keywords = {arm, controller, dynamical, robotics, system, yuragi}, pages = {22--31}, posted-at = {2009-04-07 16:13:58}, priority = {5}, title = {Flexible Control Mechanism for Multi-DOF Robotic Arm Based on Biological Fluctuation}, url = {http://dx.doi.org/10.1007/978-3-540-69134-1_3}, year = {2008} }

TY - CHAP ID - FUK08 L3 - citeulike-article-id:4284517 N2 - Controlling a highly dynamics and unknown system by existing control methods would be difficult because of its complexity. Recent biological studies reveal that animals utilize biological fluctuations to achieve adaptability to the environment and high flexibility. In this paper, we propose a simple, but flexible control method inspired by a biological adaptation mechanism. The proposed method is then applied to control robotic arms. The results of simulation indicated that our proposed method can be applied well to the control of a robot with multi-DOF. JF - From Animals to Animats 10 EP - 31 TI - Flexible Control Mechanism for Multi-DOF Robotic Arm Based on Biological Fluctuation SP - 22 KW - arm KW - controller KW - dynamical KW - robotics KW - system KW - yuragi AU - Fukuyori, Ippei AU - Nakamura, Yutaka AU - Matsumoto, Yoshio AU - Ishiguro, Hiroshi PY - 2008/// UR - http://dx.doi.org/10.1007/978-3-540-69134-1_3 ER -