Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

Toshio Fukuda; Takanori Shibata; Kazuhiro Kosuge; Fumihito Arai; Masatoshi Tokito; Toyokazu Mitsuoka

Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

Toshio Fukuda, Takanori Shibata, Kazuhiro Kosuge, Fumihito Arai, Masatoshi Tokito, Toyokazu Mitsuoka

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Publ by IEEE
Pages	162-167
Number of pages	6
ISBN (Print)	0780304500
Publication status	Published - 1992 Jan 1
Externally published	Yes
Event	Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl Duration: 1991 Dec 11 → 1991 Dec 13

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0191-2216

Other

Other	Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
City	Brighton, Engl
Period	91/12/11 → 91/12/13

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Cite this

Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators. / Fukuda, Toshio; Shibata, Takanori; Kosuge, Kazuhiro et al.

Proceedings of the IEEE Conference on Decision and Control. Publ by IEEE, 1992. p. 162-167 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fukuda, T, Shibata, T, Kosuge, K, Arai, F, Tokito, M & Mitsuoka, T 1992, Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators. in Proceedings of the IEEE Conference on Decision and Control. Proceedings of the IEEE Conference on Decision and Control, Publ by IEEE, pp. 162-167, Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3), Brighton, Engl, 91/12/11.

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AU - Fukuda, Toshio

AU - Shibata, Takanori

AU - Kosuge, Kazuhiro

AU - Arai, Fumihito

AU - Tokito, Masatoshi

AU - Mitsuoka, Toyokazu

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N2 - The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.

AB - The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.

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T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - Proceedings of the IEEE Conference on Decision and Control

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ER -

Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

Abstract

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ASJC Scopus subject areas

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