CPG-based manipulation: generation of rhythmic finger gaits from human observation
Kurita, Y.
Ueda, J.
Matsumoto, Y.
Ogasawara, T.
Robotics Lab., Nara Inst. of Sci. & Technol., Japan;
Abstract
A number of researches for the dexterous manipulation have been studied in robotics and physiologic fields independently. Multi-fingered manipulation for dexterous robot hands should be based on analysis of human skills. The purpose of this study is to apply CPG-based control to the dexterous manipulation. In this paper, CPG-based manipulation is proposed for the rotating manipulation of the dexterous hands. Finger manipulation patterns are investigated when a subject rotates a cylindrical object. Typical contact patterns during rotating manipulation are measured by FSRs. Based on the observation, the neural circuit model which generates a similar contact pattern is constructed. The experimental results by the computer simulation suggest that rotating manipulation can be performed using the constructed CPG model.
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