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Synthesising a motor-primitive inspired control architecture for redundant compliant robots


Kuppuswamy, Naveen; Marques, Hugo Gravato; Hauser, Helmut (2012). Synthesising a motor-primitive inspired control architecture for redundant compliant robots. In: Ziemke, Tom; Balkenius, Christian; Hallam, John. From Animals to Animats 12. Berlin, Heidelberg: Springer, 96-105.

Abstract

This paper presents a control architecture for redundant and compliant robots inspired by the theory of biological motor primitives which are theorised to be the mechanism employed by the central nervous system in tackling the problem of redundancy in motor control. In our framework, inspired by self-organisational principles, the simulated robot is first perturbed by a form of spontaneous motor activity and the resulting state trajectory is utilised to reduce the control dimensionality using proper orthogonal decomposition. Motor primitives are then computed using a method based on singular value decomposition. Controllers for generating reduced dimensional commands to reach desired equilibrium positions in Cartesian space are then presented. The proposed architecture is successfully tested on a simulation of a compliant redundant robotic pendulum platform that uses antagonistically arranged series-elastic actuation.

Abstract

This paper presents a control architecture for redundant and compliant robots inspired by the theory of biological motor primitives which are theorised to be the mechanism employed by the central nervous system in tackling the problem of redundancy in motor control. In our framework, inspired by self-organisational principles, the simulated robot is first perturbed by a form of spontaneous motor activity and the resulting state trajectory is utilised to reduce the control dimensionality using proper orthogonal decomposition. Motor primitives are then computed using a method based on singular value decomposition. Controllers for generating reduced dimensional commands to reach desired equilibrium positions in Cartesian space are then presented. The proposed architecture is successfully tested on a simulation of a compliant redundant robotic pendulum platform that uses antagonistically arranged series-elastic actuation.

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Additional indexing

Item Type:Book Section, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:2012
Deposited On:01 Feb 2013 07:44
Last Modified:05 Apr 2016 16:27
Publisher:Springer
Series Name:Lecture Notes in Computer Science
ISSN:0302-9743
ISBN:978-3-642-33092-6 (P) 978-3-642-33093-3 (E)
Publisher DOI:https://doi.org/10.1007/978-3-642-33093-3_10
Other Identification Number:merlin-id:7815

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