A neuromimetic controller for robotic motion

Seth Wolpert, Shilpa Sree Gaddala

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study, a controller for robotic motion based on neuroscientific principles was developed and implemented using an artificial neural element and a conventional robotic arm. With independent control over arm final position, velocity, acceleration, and deceleration, this system offers a more smooth, efficient and life-like motion than conventional open-loop methods. The system makes use of a single positional sensor, and derives all other sensory feedback signals from that sensor's output. The controller is a discrete neuromime, with an excitatory input dedicated to a "start" directive, and inhibitory synapses for position, velocity, acceleration, deceleration, and hard limiters. The system is easily upgradable to additional excitatory and inhibitory inputs, and will be able to mimic a broad range of motion trajectories, with emphasis on those derived from human elbow joint measurements.

Original languageEnglish (US)
Title of host publicationNEBEC 2009 - Proceedings of the IEEE 35th Annual Northeast Bioengineering Conference
DOIs
StatePublished - Sep 21 2009
EventIEEE 35th Annual Northeast Bioengineering Conference, NEBEC 2009 - Boston, MA, United States
Duration: Apr 3 2009Apr 5 2009

Publication series

NameBioengineering, Proceedings of the Northeast Conference
ISSN (Print)1071-121X

Other

OtherIEEE 35th Annual Northeast Bioengineering Conference, NEBEC 2009
CountryUnited States
CityBoston, MA
Period4/3/094/5/09

All Science Journal Classification (ASJC) codes

  • Bioengineering

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