Title :
Learning and control of arm impedance
Author :
Flash, Tamar ; Cohen, Moshe
Author_Institution :
Dept. of Appl. Math. & Comput. Sci., Weizmann Inst. of Sci., Rehovot, Israel
Abstract :
Evidence for the significance of impedance control in biological multijoint posture and motion is discussed. Insights gained from that domain are applied to the control of robot manipulators, and an evaluation of the associative search network learning scheme, when used for the learning of impedance control parameters for robot motion, is presented. The main task dealt with is that of wiping a surface whose geometry is not precisely known
Keywords :
biocontrol; biological techniques and instruments; biomedical equipment; electric variables control; learning systems; position control; robots; arm impedance; associative search network learning scheme; biological multijoint posture; impedance control; learning; robot manipulators; robot motion; surface wiping; Biological control systems; Computational geometry; Force control; Kinematics; Motion control; Muscles; Robot control; Robot sensing systems; Surface impedance; Trajectory;
Conference_Titel :
Engineering in Medicine and Biology Society, 1989. Images of the Twenty-First Century., Proceedings of the Annual International Conference of the IEEE Engineering in
Conference_Location :
Seattle, WA
DOI :
10.1109/IEMBS.1989.96038
