Journal
JOURNAL OF ROBOTICS AND MECHATRONICS
Volume 22, Issue 3, Pages 315-321Publisher
FUJI TECHNOLOGY PRESS LTD
DOI: 10.20965/jrm.2010.p0315
Keywords
biological fluctuation; attractor selection model; human-like robotic arm; bio-inspired robotics
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Funding
- Ministry of Education, Culture, Sport, Science and Technology, Japan
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Since animals have survived in unstructured environments, it would be beneficial to refer to animals to develop a robot that operate practical tasks. In this research, we developed a human-like robotic arm imitating the anatomy of human upper limb. Although human can control his arm flexibly and robustly, controlling such complex system by existing control methods would be difficult because of its complexity. In this paper, we propose a simple but flexible control mechanism inspired by a biological adaptation mechanism called yuragi. We applied our proposed method to the control of the robot, and experimental results show that our proposed method is applicable to the control of a robot with complex structure.
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