Exploiting Natural Dynamics in Robot Control
Abstract
This paper presents an approach to robot arm control based on exploiting the dynamical properties of an adaptive oscillator circuit coupled to the joints of an arm. The approach is implemented on a real robot arm, and swings pendulums at their natural frequencies, turns cranks and manipulates slinky toys. These actions are all achieved using the same architecture, without any modeling of the arm or its environment. The simple nature of the oscillators, and the lack of modeling results in a robust and very simple system.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1998
- Accession Number
- ADA457056
Entities
People
- Matthew M. Williamson
Organizations
- Massachusetts Institute of Technology