ORF-MOSAIC for adaptive control of a biomimetic arm

Author

Ardakani, M.M.G. ; Jörntell, Henrik ; Johansson, Rolf

Author_Institution

Dept. of Comput. Sci., Lund Univ., Lund, Sweden

fYear

2011

Firstpage

1273

Lastpage

1278

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 30×30 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.

Keywords

adaptive control; biocontrol; biomimetics; medical robotics; ORF-MOSAIC; adaptive control; biomimetic arm; cerebellar controller; modified MOSAIC model; muscle activations; musculoskeletal model; optimization techniques; organized-by-receptive fields modular selection-and-identificatio-for-control; Adaptation models; Biological system modeling; Brain modeling; Hidden Markov models; Joints; Mathematical model; Muscles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Conference_Location

Karon Beach, Phuket

Print_ISBN

978-1-4577-2136-6

Type

conf

DOI

10.1109/ROBIO.2011.6181463

Filename

6181463