Compliance control with embedded neural elementsThe authors discuss a control approach that embeds the neural elements within a model-based compliant control architecture for robotic tasks that involve contact with unstructured environments. Compliance control experiments have been performed on actual robotics hardware to demonstrate the performance of contact control schemes with neural elements. System parameters were identified under the assumption that environment dynamics have a fixed nonlinear structure. A robotics research arm, placed in contact with a single degree-of-freedom electromechanical environment dynamics emulator, was commanded to move through a desired trajectory. The command was implemented by using a compliant control strategy.
Document ID
19930038869
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Venkataraman, S. T. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Gulati, S. (JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vol. 2 (A93-22776 07-63)
Publisher: Institute of Electrical and Electronics Engineers