Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

Toshio Fukuda; Takanori Shibata; Kazuhiro Kosuge; Fumihito Arai; Masatoshi Tokito; Toyokazu Mitsuoka

Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

Toshio Fukuda
, Takanori Shibata
, Kazuhiro Kosuge
, Fumihito Arai
, Masatoshi Tokito
, Toyokazu Mitsuoka

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

3 Citations (Scopus)

Abstract

The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Publ by IEEE
Pages	162-167
ISBN (Print)	0780304500
Publication status	Published - Jan 1992
Externally published	Yes
Event	Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl Duration: 11 Dec 1991 → 13 Dec 1991

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Electronic)	0191-2216

Conference

Conference	Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
City	Brighton, Engl
Period	11/12/91 → 13/12/91

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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@inproceedings{ab54f9ac496c467884413b3c1e2d5952,

title = "Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators",

abstract = "The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.",

author = "Toshio Fukuda and Takanori Shibata and Kazuhiro Kosuge and Fumihito Arai and Masatoshi Tokito and Toyokazu Mitsuoka",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) ; Conference date: 11-12-1991 Through 13-12-1991",

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month = jan,

language = "English",

isbn = "0780304500",

series = "Proceedings of the IEEE Conference on Decision and Control",

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booktitle = "Proceedings of the IEEE Conference on Decision and Control",

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Fukuda, T, Shibata, T, Kosuge, K, Arai, F, Tokito, M & Mitsuoka, T 1992, Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators. in Proceedings of the IEEE Conference on Decision and Control. Proceedings of the IEEE Conference on Decision and Control, Publ by IEEE, pp. 162-167, Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3), Brighton, Engl, 11/12/91.

Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators. / Fukuda, Toshio; Shibata, Takanori; Kosuge, Kazuhiro et al.
Proceedings of the IEEE Conference on Decision and Control. Publ by IEEE, 1992. p. 162-167 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

AU - Fukuda, Toshio

AU - Shibata, Takanori

AU - Kosuge, Kazuhiro

AU - Arai, Fumihito

AU - Tokito, Masatoshi

AU - Mitsuoka, Toyokazu

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1992/1

Y1 - 1992/1

N2 - The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.

AB - The authors present a neural network (NN)-based approach for sensing and control of a robotic manipulator. They corroborate the effectiveness of the proposed approach for impact control of a robotic manipulator. Collisions are very quick phenomena and have strong nonlinearity. Therefore, it is difficult to sense collisions and to control the robotic manipulator undergoing collisions. The proposed approach has robustness against the impact force. It also has effectiveness in sensing and recognition of collisions by using a proximity sensor. In this case, the NN-based controller can acquire desirable manipulation of its own accord, so as to avoid the impact.

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M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780304500

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 162

EP - 167

BT - Proceedings of the IEEE Conference on Decision and Control

PB - Publ by IEEE

T2 - Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)

Y2 - 11 December 1991 through 13 December 1991

ER -

Neuromorphic sensing and control--Applications to position, force, and impact control for robotic manipulators

Abstract

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