ORF-MOSAIC for Adaptive Control of a Biomimetic Arm
Ghazaei, Mahdi LU ; Jörntell, Henrik LU and Johansson, Rolf LU
(2011)
IEEE International Conference on Robotics and Biomimetics
p.1273-1278
- Abstract
- This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for Control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30x30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2224716
- author
- Ghazaei, Mahdi
LU
; Jörntell, Henrik
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2011
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- IEEE International Conference on Robotics and Biomimetics
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE International Conference on Robotics and Biomimetics
- conference location
- Phuket Island, Thailand
- conference dates
- 2011-11-07 - 2011-11-11
- external identifiers
-
- scopus:84860779624
- ISBN
- 978-1-4577-2137-3
- project
- RobotLab LTH
- Cerebellum
- language
- English
- LU publication?
- yes
- additional info
- key=ghaz_etal2011crb month=11
- id
- 8db74e3e-746c-40a1-8975-30bf62e61c2c (old id 2224716)
- date added to LUP
- 2016-04-04 11:28:26
- date last changed
- 2023-10-18 13:56:44
@inproceedings{8db74e3e-746c-40a1-8975-30bf62e61c2c,
abstract = {{This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for Control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization techniques. With as few as 16 modules, we were able to control the arm in a workspace of 30x30 cm. The system was able to adapt to an external field as well as handling new objects despite delays. The discussion section suggests that there are similarities between the microzones in the cerebellum and the modules of this new model.}},
author = {{Ghazaei, Mahdi and Jörntell, Henrik and Johansson, Rolf}},
booktitle = {{IEEE International Conference on Robotics and Biomimetics}},
isbn = {{978-1-4577-2137-3}},
language = {{eng}},
pages = {{1273--1278}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{ORF-MOSAIC for Adaptive Control of a Biomimetic Arm}},
year = {{2011}},
}