DocumentCode
2096589
Title
A broadcast-probability approach to the control of vast DOF cellular actuators
Author
Ueda, Jun ; Odhnar, Lael ; Asada, Harry
fYear
2006
fDate
15-19 May 2006
Firstpage
1456
Lastpage
1461
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641914
Filename
1641914
Link To Document