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ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

In English

Författare

Summary, in English

This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for Control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30x30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model.

Publiceringsår

2011

Språk

Engelska

Sidor

1273-1278

Publikation/Tidskrift/Serie

IEEE International Conference on Robotics and Biomimetics

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Neurosciences
  • Control Engineering
  • Robotics

Conference name

IEEE International Conference on Robotics and Biomimetics

Conference date

2011-11-07 - 2011-11-11

Conference place

Phuket Island, Thailand

Status

Published

Projekt

  • LU Robotics Laboratory
  • Cerebellum

Forskningsgrupp

  • Neural Basis of Sensorimotor Control
  • LCCC

ISBN/ISSN/Övrigt

  • ISBN: 978-1-4577-2137-3