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

Telecom Paris
INSA Toulouse
CNRS

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

Résumé

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.

langue originale	Anglais
titre	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	2785-2791
Nombre de pages	7
Les DOIs	https://doi.org/10.1109/ICRA.2011.5980553
état	Publié - 1 déc. 2011
Evénement	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, Chine Durée: 9 mai 2011 → 13 mai 2011

Série de publications

Nom	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (imprimé)	1050-4729

Une conférence

Une conférence	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pays/Territoire	Chine
La ville	Shanghai
période	9/05/11 → 13/05/11

Accès au document

10.1109/ICRA.2011.5980553

Contient cette citation

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. Dans 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (p. 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",

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doi = "10.1109/ICRA.2011.5980553",

language = "English",

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

pages = "2785--2791",

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

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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. Dans 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980553, Proceedings - IEEE International Conference on Robotics and Automation, p. 2785-2791, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, Chine, 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).

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

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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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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. Dans 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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Série de publications

Une conférence

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Empreinte digitale

Contient cette citation