ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

Mahdi Ghazaei; Henrik Jörntell; Rolf Johansson

ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

Mahdi Ghazaei, Henrik Jörntell, Rolf Johansson

Forskningsoutput: Kapitel i bok/rapport/Conference proceeding › Konferenspaper i proceeding › Peer review

Sammanfattning

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.

Originalspråk	engelska
Titel på värdpublikation	IEEE International Conference on Robotics and Biomimetics
Förlag	IEEE - Institute of Electrical and Electronics Engineers Inc.
Sidor	1273-1278
Antal sidor	6
ISBN (tryckt)	978-1-4577-2137-3
Status	Published - 2011
Evenemang	IEEE International Conference on Robotics and Biomimetics - Phuket Island, Thailand Varaktighet: 2011 nov. 7 → 2011 nov. 11

Konferens

Konferens	IEEE International Conference on Robotics and Biomimetics
Land/Territorium	Thailand
Ort	Phuket Island
Period	2011/11/07 → 2011/11/11

Bibliografisk information

key=ghaz_etal2011crb
month=11

Ämnesklassifikation (UKÄ)

Neurovetenskaper
Reglerteknik
Robotteknik och automation

RobotLab LTH
Bagge Carlson, F. (Forskare), Johansson, R. (Forskare), Karlsson, M. (Forskare), Olofsson, B. (Forskare), Robertsson, A. (Forskare), Robertz, S. (Forskare), Haage, M. (Forskare), Malec, J. (Forskare), Nilsson, K. (Forskare), Nugues, P. (Forskare), Stenmark, M. (Forskare), Topp, E. A. (Forskare), Krueger, V. (Forskare), Åström, H. (Forskare), Mayr, M. (Forskare), Salt Ducaju, J. (Forskare), Nishimura, M. (Administratör), Wisbrant, J. (Projektkommunikatör), Dürr, A. (Forskare), Mayr, M. (Forskare), Nugues, P. (Forskare), Klang, M. (Forskningsingenjör), Klöckner, M. (Forskare), Nardi, L. (Forskare), Ahmad, F. (Forskare), Oxenstierna, J. (Forskare), Rizwan, M. (Forskare), Reichenbach, C. (Forskare), Bergström, J. (Forskare), Dell'Unto, N. (Forskare), Maunsbach, L. (Forskare), Åström, K. (Forskare), Blomdell, A. (Forskningsingenjör), Magnusson, M. (Forskare), Fransson, P.-A. (Forskare), Karayiannidis, Y. (Forskare), Johansson, A. T. (Forskare), Jia, Z. (Forskare), Laban, L. (Forskare), Wingqvist, B. (Forskare), Guberina, M. (Forskare), Jena, A. (Forskare), Westin, E. (Administratör), Frick, C. (Administratör), Pisarevskiy, A. (Forskningsingenjör), Nilsson, A. (Forskningsingenjör), Reitmann, S. (Forskare), Hvarfner, C. (Forskare), Stoltenberg, P. (Forskare) & Fregnan, S. (Forskare)
1993/01/01 → …
Projekt: Forskning

RobotLab LTH Infrastruktur
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Lunds Tekniska Högskola
Infrastruktur

Citera det här

@inproceedings{8db74e3e746c40a1897530bf62e61c2c,

title = "ORF-MOSAIC for Adaptive Control of a Biomimetic Arm",

abstract = "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.",

author = "Mahdi Ghazaei and Henrik J{\"o}rntell and Rolf Johansson",

note = "key=ghaz_etal2011crb month=11; IEEE International Conference on Robotics and Biomimetics ; Conference date: 07-11-2011 Through 11-11-2011",

year = "2011",

language = "English",

isbn = "978-1-4577-2137-3",

pages = "1273--1278",

booktitle = "IEEE International Conference on Robotics and Biomimetics",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

}

TY - GEN

T1 - ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

AU - Ghazaei, Mahdi

AU - Jörntell, Henrik

AU - Johansson, Rolf

N1 - key=ghaz_etal2011crb month=11

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

M3 - Paper in conference proceeding

SN - 978-1-4577-2137-3

SP - 1273

EP - 1278

BT - IEEE International Conference on Robotics and Biomimetics

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Robotics and Biomimetics

Y2 - 7 November 2011 through 11 November 2011

ER -

ORF-MOSAIC for Adaptive Control of a Biomimetic Arm

Sammanfattning

Konferens

Bibliografisk information

Ämnesklassifikation (UKÄ)

Fingeravtryck

Projekt

RobotLab LTH

Utrustning

RobotLab LTH Infrastruktur

Citera det här