Abstract
In this paper we present our bio-mimetic artificial arm and the simulation results on its low level control system. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. The control system is organized in a hierarchical way, the low level control reproduces the human spinal reflexes and the high level control the circuits present in the cerebral motor cortex and the cerebellum. Simulation show how the system controls the single joint position reducing the stiffness during the movement.
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Folgheraiter, M., Gini, G. (2005). MaximumOne: An Anthropomorphic Arm with Bio-inspired Control System. In: Wermter, S., Palm, G., Elshaw, M. (eds) Biomimetic Neural Learning for Intelligent Robots. Lecture Notes in Computer Science(), vol 3575. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11521082_17
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DOI: https://doi.org/10.1007/11521082_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-27440-7
Online ISBN: 978-3-540-31896-5
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