The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Sensory Motor Coordination System for Robotic Grasping

로봇 손의 힘 조절을 위한 생물학적 감각-운동 협응

  • 김태형 (인하대학 공대 정보통신공학과) ;
  • 김태선 (카톨릭대학교 정보통신공학부) ;
  • 수동성 (용인 송담대학 디지털전자정보과) ;
  • 이종호 (인하대학 공대 정보통신공학과)
  • Published : 2004.02.01
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Abstract

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.

Keywords

References

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