From biological inspiration toward next-generation manipulators: manipulator control focused on human tasks |
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Authors: | BJW Waarsing M Nuttin H Van Brussel B Corteville |
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Affiliation: | Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium; |
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Abstract: | This paper presents our approach to extend the niche of behavior-based robotics toward manipulation. We use results from neuroscience to derive some qualitative design rules for the mechanics of the manipulator, resulting in a next-generation manipulator, the "soft arm". By defining the basic behaviors of the manipulator as trajectory-producing behaviors (which is also biologically plausible), we have designed a first test case: writing on a board with a mobile manipulator. The soft arm has not yet been developed; therefore, we have emulated such a soft robot arm on an industrial robot. |
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