An impact control scheme inspired by human reflex

Shyh Woei Weng, Kuu-Young Young*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Scopus citations

Abstract

In this article, we propose a control scheme to deal with unexpected impacts. Impact is inevitable when robot manipulators interact with the environment. Undesirable impacts may induce large interaction forces harmful to robot manipulators and the environment. Impacts may also excite oscillations, and even result in manipulator instability. When unexpected impacts occur, a very limited amount of time is available for control. Thus, a reflex mechanism, which emulates the functioning of human reflexes, is included in the proposed scheme. Human reflex is a kind of human action that requires no conscious effort; consequently, it responds to external stimuli without much delay. Simulations are performed to verify the effectiveness of the proposed scheme under a wide range of environmental variations and impact velocities.

Original languageEnglish
Pages (from-to)837-855
Number of pages19
JournalJournal of Robotic Systems
Volume13
Issue number12
DOIs
StatePublished - Dec 1996

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