Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles

Sofiane Ouanezar; Frédéric Jean; Bertrand Tondu; Marc A. Maier; Christian Darlot; Selim Eskiizmirliler

doi:10.1109/ICRA.2011.5980553

Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles

Sofiane Ouanezar, Frédéric Jean, Bertrand Tondu, Marc A. Maier, Christian Darlot, Selim Eskiizmirliler

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

Abstract

This study focuses on biomimetic sensory motor control of a robotic arm. We have developed a command circuit that was mathematically deduced from physical and mathematical constraints describing the function of cerebellar pathways. The control circuit contains an internal predictive model of the direct biomechanical function of the limb placed in a closed loop, so that the circuit computes an approximate inverse function. The structure of the model resembles the anatomic connectivity of the cerebellar pathways. In this paper, we present an application of this model to the control of a 2-link robotic arm actuated by four single-joint McKibben muscles and report the results obtained by simulation and real-time learning of 2 degrees of freedom pointing movements.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	2785-2791
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2011.5980553
Publication status	Published - 1 Dec 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

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10.1109/ICRA.2011.5980553

Cite this

Ouanezar, S., Jean, F., Tondu, B., Maier, M. A., Darlot, C., & Eskiizmirliler, S. (2011). Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 2785-2791). Article 5980553 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980553

@inproceedings{c102e72351a449d7bc2744f932ff3b19,

title = "Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles",

abstract = "This study focuses on biomimetic sensory motor control of a robotic arm. We have developed a command circuit that was mathematically deduced from physical and mathematical constraints describing the function of cerebellar pathways. The control circuit contains an internal predictive model of the direct biomechanical function of the limb placed in a closed loop, so that the circuit computes an approximate inverse function. The structure of the model resembles the anatomic connectivity of the cerebellar pathways. In this paper, we present an application of this model to the control of a 2-link robotic arm actuated by four single-joint McKibben muscles and report the results obtained by simulation and real-time learning of 2 degrees of freedom pointing movements.",

author = "Sofiane Ouanezar and Fr{\'e}d{\'e}ric Jean and Bertrand Tondu and Maier, \{Marc A.\} and Christian Darlot and Selim Eskiizmirliler",

year = "2011",

month = dec,

day = "1",

doi = "10.1109/ICRA.2011.5980553",

language = "English",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2785--2791",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Ouanezar, S, Jean, F, Tondu, B, Maier, MA, Darlot, C & Eskiizmirliler, S 2011, Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980553, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2785-2791, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5980553

Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles. / Ouanezar, Sofiane; Jean, Frédéric; Tondu, Bertrand et al.
2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 2785-2791 5980553 (Proceedings - IEEE International Conference on Robotics and Automation).

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

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AU - Darlot, Christian

AU - Eskiizmirliler, Selim

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N2 - This study focuses on biomimetic sensory motor control of a robotic arm. We have developed a command circuit that was mathematically deduced from physical and mathematical constraints describing the function of cerebellar pathways. The control circuit contains an internal predictive model of the direct biomechanical function of the limb placed in a closed loop, so that the circuit computes an approximate inverse function. The structure of the model resembles the anatomic connectivity of the cerebellar pathways. In this paper, we present an application of this model to the control of a 2-link robotic arm actuated by four single-joint McKibben muscles and report the results obtained by simulation and real-time learning of 2 degrees of freedom pointing movements.

AB - This study focuses on biomimetic sensory motor control of a robotic arm. We have developed a command circuit that was mathematically deduced from physical and mathematical constraints describing the function of cerebellar pathways. The control circuit contains an internal predictive model of the direct biomechanical function of the limb placed in a closed loop, so that the circuit computes an approximate inverse function. The structure of the model resembles the anatomic connectivity of the cerebellar pathways. In this paper, we present an application of this model to the control of a 2-link robotic arm actuated by four single-joint McKibben muscles and report the results obtained by simulation and real-time learning of 2 degrees of freedom pointing movements.

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M3 - Conference contribution

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Ouanezar S, Jean F, Tondu B, Maier MA, Darlot C, Eskiizmirliler S. Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 2785-2791. 5980553. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2011.5980553

Biologically inspired sensory motor control of a 2-link robotic arm actuated by McKibben muscles

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