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

Authors:
Ippei Fukuyori;Yutaka Nakamura;Yoshio Matsumoto;Hiroshi Ishiguro
Affiliations:
Graduate school of Engineering, Osaka University, Osaka, Japan;Graduate school of Engineering, Osaka University, Osaka, Japan;Graduate school of Engineering, Osaka University, Osaka, Japan;Graduate school of Engineering, Osaka University, Osaka, Japan
Venue:
SAB '08 Proceedings of the 10th international conference on Simulation of Adaptive Behavior: From Animals to Animats
Year:
2008

Citing 3
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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.