Robot impact control inspired by human reflex

Shyh Woei Weng*, Kuu-Young Young

*Corresponding author for this work

Research output: Contribution to journalConference article

4 Scopus citations

Abstract

In this paper, 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, that 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)2579-2585
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 1 Jan 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 22 Apr 199628 Apr 1996

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