Title :
A broadcast-probability approach to the control of vast DOF cellular actuators
Author :
Ueda, Jun ; Odhnar, Lael ; Asada, Harry
Abstract :
A broadcast-probability approach for the coordination of a vast number of actuators is proposed. We consider an actuator that consists of many "cellular" actuator units like human muscles. Each local unit has a decision-making unit which decides whether to accept or ignore the broadcasted control signal in a stochastic manner. We demonstrate through simulation that centralized coordination is unnecessary, and redundancy and randomness of the system improve the performance
Keywords :
artificial limbs; biomechanics; intelligent actuators; DOF cellular actuators; broadcast-probability approach; decision-making unit; stochastic control; Actuators; Biological materials; Broadcasting; Centralized control; Conducting materials; Decision making; Humans; Laboratories; Muscles; Stochastic processes;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641914
