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From biological inspiration toward next-generation manipulators: manipulator control focused on human tasks

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4 Author(s)
B. J. W. Waarsing ; Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium ; M. Nuttin ; H. Van Brussel ; B. Corteville

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.

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)  (Volume:35 ,  Issue: 1 )