A Two Layered Control Architecture for Prosthetic Grasping
نویسندگان
چکیده
منابع مشابه
A Layered Control Architecture for Humanoid Robot
In this paper, we propose a layered control architecture called “CBR augmented GP” to evolve robust control programs for humanoid robots. The key idea in our approach is to represent target task with abstract behaviors by Genetic Programming in simplified simulation and get a prototype of the control program then interpret it with Case-Based Reasoning (CBR) in the real world environments. Accor...
متن کاملRobot Grasping for Prosthetic Applications
Neurally controlled prosthetic devices capable of environmental manipulation have much potential towards restoring the physical functionality of disabled people. However, the number of user input variables provided by current neural decoding systems is much less than the number of control degrees-of-freedom (DOFs) of a prosthetic hand and/or arm. To address this sparse control problem, we propo...
متن کاملAnalysis of Grasping Motion Using a Virtual Prosthetic Control System
Electromyogram (EMG) signals can be measured from human muscles and can be used to anticipate movements. In fact, many researchers have tried to use these signals as an interface tool for a prosthetic hand. However, most of these studies focused on the discrimination performance of the EMG signals, and only discussed the control method for the prosthetic hand. Evaluation of the operating perfor...
متن کاملModifying a Conventional Grasping Control Approach for Undesired Slippage Control in Cooperating Manipulator Systems
There have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. However undesired slippage can occur due to environmental conditions and many other reasons. In this research, dynamic analysis and control synthesis of a cooperating ...
متن کاملUnifying Control in a Layered Agent Architecture
In this paper we set up a unifying perspective of the individual con trol layers of the architecture InteRRaP for autonomous interacting agents InteRRaP is a pragmatic approach to designing complex dynamic agent societies e g for robotics M uller Pischel a and cooperative scheduling applications Fischer et al It is based on three general functions describ ing how the actions an agent commits to...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Paladyn, Journal of Behavioral Robotics
سال: 2013
ISSN: 2081-4836
DOI: 10.2478/pjbr-2013-0001