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A human motor control perspective to multiple manipulator modelling.

C Kambhampati1, S Rajasekharan

  • 1Neural, Emergent and Agent Technologies, Department of Computer Science, University of Hull, UK. c.kambhampati@dcs.hull.ac.uk

Biological Cybernetics
|November 8, 2003
PubMed
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This study models multi-robot systems using human motor control principles. Fuzzy modeling enables a decomposable control system for robots handling a shared object.

Area of Science:

  • Robotics
  • Control Systems
  • Human Motor Control

Background:

  • Human motor control exhibits hierarchical and decentralized structures.
  • Replicating these features in multi-robot systems requires decomposable models.
  • Complex robotic systems are challenging to decompose due to subsystem interactions.

Purpose of the Study:

  • To model multi-robot systems inspired by human motor control.
  • To develop a fully decomposable control system for multi-robot applications.
  • To address the challenge of subsystem interactions in complex robotic systems.

Main Methods:

  • Applying principles of human motor control to robotic systems.
  • Utilizing fuzzy modeling for system decomposition.
  • Separating interconnections between subsystems before modeling.

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Main Results:

  • A method for separating interconnections in multi-robot systems was developed.
  • Fuzzy modeling facilitated the derivation of a fully decomposable model.
  • The model was applied to two manipulator robots handling a common object.

Conclusions:

  • A decomposable model inspired by human motor control is feasible for multi-robot systems.
  • Fuzzy modeling is an effective tool for achieving system decomposition.
  • The proposed approach enables robust control of multi-robot systems interacting with common objects.