Title :
Bio-reflex-based robot adaptive motion controlling theory
Author :
Zhang, Xiuli ; Zheng, Haojun ; Duan, Guanghong ; Zhao, Liyao
Author_Institution :
Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China
Abstract :
The environment adaptability of robot motion can be effectively improved with bio-reflex theory which is a new research direction of robot motion-control. The paper introduces the basic theory of complete adaptive motion of robot with bio-reflex mechanism. As for the motion control of the robot, the traditional and the bio-reflex control methods are compared. The concept of a single system and its advantages for motion control are analyzed.
Keywords :
adaptive control; motion control; robots; bio-reflex-based robot adaptive motion control; central pattern generator; environment adaptability; rhythmic motion; single system; traditional methods; Adaptive control; Automatic control; Control system analysis; Control systems; Instruments; Motion analysis; Motion control; Programmable control; Robot control; Robot motion;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1021543
