loading
Documents

Research.Publish.Connect.

Paper

Authors: Eniko T. Enikov and Phillip Vidinski

Affiliation: University of Arizona, United States

ISBN: 978-989-758-264-6

Keyword(s): Spherical Parallel Mechanism, Artificial Neural Network, Body Schema,Cognitive Robotics.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Cognitive Robotics ; Human-Machine Interfaces ; Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. This paper describes the development of closed-loop control of spherical parallel mechanism based on self-learning body schemas. More specifically, we demonstrate how a complex parallel spherical manipulator in contact with a surface of irregular geometry can be driven to a configuration of balanced contact forces, i.e. aligned with respect to the irregular surface. The approach uses a pseudo-potential functions and a gradient-based maximum seeking algorithm to drive the manipulator to the desired position. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the manipulator’s rotary degrees of freedom and the output contact forces. Numerical and exp erimental results are presented illustrating the performance of the control scheme. A motivating application of the proposed manipulator and its control algorithm is a hand-held eye tonometer based on tactile force measurements. The resulting controller has been shown to achieve 10 mN of force errors which are adequate for tactile tonometers. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.229.151.87

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Enikov, E.; Enikov, E. and Vidinski, P. (2017). Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 192-198. DOI: 10.5220/0006481301920198

@conference{icinco17,
author={Eniko T. Enikov. and Eniko T. Enikov. and Phillip Vidinski.},
title={Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={192-198},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006481301920198},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Application of Sensory Body Schemas to the Orientation Control of Hand-held Tactile Tonometer
SN - 978-989-758-264-6
AU - Enikov, E.
AU - Enikov, E.
AU - Vidinski, P.
PY - 2017
SP - 192
EP - 198
DO - 10.5220/0006481301920198

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.