Abstract
Controlling a highly dynamics and unknown system by existing control methods would be difficult because of its complexity. Recent biological studies reveal that animals utilize biological fluctuations to achieve adaptability to the environment and high flexibility. In this paper, we propose a simple, but flexible control method inspired by a biological adaptation mechanism. The proposed method is then applied to control robotic arms. The results of simulation indicated that our proposed method can be applied well to the control of a robot with multi-DOF.
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Fukuyori, I., Nakamura, Y., Matsumoto, Y., Ishiguro, H. (2008). Flexible Control Mechanism for Multi-DOF Robotic Arm Based on Biological Fluctuation. In: Asada, M., Hallam, J.C.T., Meyer, JA., Tani, J. (eds) From Animals to Animats 10. SAB 2008. Lecture Notes in Computer Science(), vol 5040. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69134-1_3
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DOI: https://doi.org/10.1007/978-3-540-69134-1_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69133-4
Online ISBN: 978-3-540-69134-1
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