A neural-control system for a humanoid artificial ARM

Michele Folgheraiter, Giuseppina Gini, Massimo Cavallari

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. The manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. Thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. The control system is organized in a hierarchical way. The low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. The high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm; at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.

Original languageEnglish
Pages119-126
Number of pages8
Publication statusPublished - Dec 1 2007
Event4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007 - Angers, France
Duration: May 9 2007May 12 2007

Other

Other4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007
CountryFrance
CityAngers
Period5/9/075/12/07

Keywords

  • Artificial arm
  • Biorobotics
  • Humanoids robotics
  • Neural controller

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Folgheraiter, M., Gini, G., & Cavallari, M. (2007). A neural-control system for a humanoid artificial ARM. 119-126. Paper presented at 4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, Angers, France.