A human motor control perspective to multiple manipulator modelling.

Abstract:

:This paper describes the aspects involved in modelling a multi-robot system from a human motor control perspective. The human motor control system has a hierarchical and decentralised structure, and building a control system for a multi-robot system that attains human features would require a decomposable model. Decomposition of a complex robotic system is difficult due to the interactions between the subsystems, so these have to be first separated before the system is modelled. The proposed method of separating the interconnections is applied with the aid of fuzzy modelling to derive a fully decomposable model of two manipulator robots handling a common object.

journal_name

Biol Cybern

journal_title

Biological cybernetics

authors

Kambhampati C,Rajasekharan S

doi

10.1007/s00422-003-0427-5

keywords:

subject

Has Abstract

pub_date

2003-10-01 00:00:00

pages

254-63

issue

4

eissn

0340-1200

issn

1432-0770

journal_volume

89

pub_type

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