Adaptation In Biological Sensory-Motor Systems: A Model For Robotic Control.

Amitabha Mukerjee

doi:10.1117/12.946187

17 January 1985 Adaptation In Biological Sensory-Motor Systems: A Model For Robotic Control.

Amitabha Mukerjee

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946187
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

Biological sensory-motor systems have an extraordinary facility for adaptation. The accurate behavior demonstrated by such systems even under severe informational discrepancy has generated theories proposing altered internal models as the basis for such adaptation. Here we propose a similar perturbed parameter scheme for the low-level control of robotic manipulators. Thus, the dynamic and kinematic parameters in any suitable theoretical model can be perturbed from their true values in order to achieve enhanced performance in the vicinity of a given trajectory. Critical issues in this approach involve selection of parameters for identification and the estimation technique itself. A new approach is also highlighted which permits the self-calibration of the link inertias while executing any desired trajectory.

Citation Download Citation

Amitabha Mukerjee "Adaptation In Biological Sensory-Motor Systems: A Model For Robotic Control.", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946187

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available