From biological inspiration toward next-generation manipulators: manipulator control focused on human tasks

Authors:
B. J.W. Waarsing;M. Nuttin;H. Van Brussel;B. Corteville
Affiliations:
Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium;-;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Year:
2005

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Cited 1

Active stereo vision-based mobile robot navigation for person tracking

Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics

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Abstract

This paper presents our approach to extend the niche of behavior-based robotics toward manipulation. We use results from neuroscience to derive some qualitative design rules for the mechanics of the manipulator, resulting in a next-generation manipulator, the "soft arm". By defining the basic behaviors of the manipulator as trajectory-producing behaviors (which is also biologically plausible), we have designed a first test case: writing on a board with a mobile manipulator. The soft arm has not yet been developed; therefore, we have emulated such a soft robot arm on an industrial robot.