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Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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<strong>Session</strong> WedET4 Fenix 3 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 15:00–16:00<br />

Control of Bio-Inspired Robots II<br />

Chair Giorgio Metta, Istituto Italiano di Tecnologia (IIT)<br />

Co-Chair<br />

15:00–15:15 WedET4.1<br />

Iterative Learning Control for a Musculoskeletal Arm:<br />

Utilizing Multiple Space Variables to Improve the Robustness<br />

Kenji Tahara, Yuta Kuboyama and Ryo Kurazume<br />

Kyushu University, Japan<br />

• Proposing a new iterative learning<br />

control method which is composed of<br />

multiple space variables<br />

• Conducting numerical simulations to<br />

show the theoretical validity of<br />

proposed method<br />

• Performing experiments to<br />

demonstrate the practical usefulness<br />

of the controller<br />

Experimental setup of the two-link six-muscle<br />

wire-driven planar arm system<br />

15:30–15:45 WedET4.3<br />

Biologically Inspired Reactive Climbing Behavior<br />

of Hexapod Robots<br />

Dennis Goldschmidt, Frank Hesse,<br />

Florentin Wörgötter and Poramate Manoonpong<br />

III Physikalisches Institut - Biophysik, Georg-August-Universität Göttingen,<br />

Germany<br />

• A biologically-inspired reactive climbing<br />

controller is presented. It is composed of<br />

three neural modules: Backbone Joint<br />

Control (BJC), Leg Reflex Control (LRC),<br />

and Neural Locomotion Control (NLC).<br />

• The BJC and LRC control climbing key<br />

behavior while basic walking behavior<br />

including omnidirectional walking is<br />

achieved by NLC.<br />

• Experimental results show that the<br />

developed controller allows the robot to<br />

surmount obstacles with a maximum<br />

height of 13 cm which equals 75% of its<br />

leg length.<br />

Control architecture of the robot AMOS II (top)<br />

and the comparison of the climbing behavior<br />

of a cockroach and the robot (bottom)<br />

15:15–15:30 WedET4.2<br />

A Generic Software Architecture for Control of<br />

Parallel Kinematics Designed for Reduced<br />

Computing Hardware<br />

Franz Dietrich, Sven Grüner and Annika Raatz<br />

Institute of Machine Tools and Production Technology (IWF),<br />

TU Braunschweig, Germany<br />

• An object oriented software architecture<br />

dedicated to lean microcontrollers, highly<br />

scalable, versatile and powerful enough to<br />

control parallel kinematics<br />

• Adopts a variety of kinematics, actuators,<br />

sensors and communication interfaces as<br />

well as advanced functionalities and<br />

control concepts<br />

• A case study demonstrates the<br />

architecture’s deployment for a<br />

miniaturized five-bar robot, designed for<br />

biotech lab automation<br />

15:45–16:00 WedET4.4<br />

Embodied hyperacuity from Bayesian perception:<br />

Shape and position discrimination<br />

with an iCub fingertip sensor<br />

1 1 1 1<br />

2<br />

1<br />

N Lepora, U Martinez, H Barron, M Evans, G Metta, T Prescott<br />

1) University of Sheffield, UK; 2) Italian Institute of Technology, Italy<br />

• First demonstration of hyperacuity with a<br />

tactile sensor, in that the accuracy is finer<br />

than the taxel spacing<br />

• Simultaneous classification of shape and<br />

position, which are useful percepts for<br />

grasping and manipulation<br />

• Fingertip-object relative position to submillimeter<br />

resolution (over 16mm range),<br />

compared with 4mm taxel spacing<br />

• Rod diameter to less than 2mm resolution<br />

(over 4-12 mm range)<br />

• Bayesian perception methodology based on<br />

models of animal perception in neuroscience<br />

• Novel testing rig using a Cartesian robot for<br />

systematic testing of sensing capabilities<br />

<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />

–164–<br />

Test Fingertip<br />

. objects<br />

geometry

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