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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 In 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
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
external identifiers
  • Scopus:84860779624
ISBN
978-1-4577-2137-3
language
English
LU publication?
yes
id
8db74e3e-746c-40a1-8975-30bf62e61c2c (old id 2224716)
date added to LUP
2011-12-13 09:42:55
date last changed
2016-10-13 04:45:56
@misc{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},
  isbn         = {978-1-4577-2137-3},
  language     = {eng},
  pages        = {1273--1278},
  publisher    = {ARRAY(0x8e38fd8)},
  series       = {IEEE International Conference on Robotics and Biomimetics},
  title        = {ORF-MOSAIC for Adaptive Control of a Biomimetic Arm},
  year         = {2011},
}