JRM Vol.22 No.3 pp. 315-321
doi: 10.20965/jrm.2010.p0315


Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model

Atsushi Sugahara, Yutaka Nakamura, Ippei Fukuyori,
Yoshio Matsumoto, and Hiroshi Ishiguro

Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan

October 1, 2009
February 16, 2010
June 20, 2010
biological fluctuation, attractor selection model, human-like robotic arm, bio-inspired robotics

Since animals have survived in unstructured environments, it would be beneficial to refer to animals to develop a robot that operate practical tasks. In this research, we developed a human-like robotic arm imitating the anatomy of human upper limb. Although human can control his arm flexibly and robustly, controlling such complex system by existing control methods would be difficult because of its complexity. In this paper, we propose a simple but flexible control mechanism inspired by a biological adaptation mechanism called “yuragi.” We applied our proposed method to the control of the robot, and experimental results show that our proposed method is applicable to the control of a robot with complex structure.

Cite this article as:
A. Sugahara, Y. Nakamura, I. Fukuyori, <. Matsumoto, and H. Ishiguro, “Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model,” J. Robot. Mechatron., Vol.22, No.3, pp. 315-321, 2010.
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Last updated on Feb. 20, 2019