scholarly journals Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems - Testing Active Haptic Control through Force Feedback

2018 ◽  
Author(s):  
Christian Ivan Basson ◽  
Glen Bright
Keyword(s):  
Force Feedback ◽  
Assembly Systems ◽  
Biologically Inspired ◽  
Reconfigurable Assembly ◽  
Haptic Control

scholarly journals Scheduling and Operator Control in Reconfigurable Assembly Systems

Procedia CIRP ◽  
2017 ◽  
Vol 63 ◽  
pp. 459-464 ◽  
Author(s):  
Dávid Gyulai ◽  
Botond Kádár ◽  
László Monostori
Keyword(s):  
Assembly Systems ◽  
Reconfigurable Assembly ◽  
Operator Control

scholarly journals Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback

2021 ◽  
Vol 8 ◽  
Author(s):  
Riccardo Zamboni ◽  
Dai Owaki ◽  
Mitsuhiro Hayashibe
Keyword(s):  
Energy Efficiency ◽  
Force Feedback ◽  
Central Pattern Generators ◽  
The State ◽  
Proprioceptive Information ◽  
Robotic Control ◽  
Periodic Patterns ◽  
Biologically Inspired ◽  
Optimal Energy ◽  
Pattern Generators

To obtain biologically inspired robotic control, the architecture of central pattern generators (CPGs) has been extensively adopted to generate periodic patterns for locomotor control. This is attributed to the interesting properties of nonlinear oscillators. Although sensory feedback in CPGs is not necessary for the generation of patterns, it plays a central role in guaranteeing adaptivity to environmental conditions. Nonetheless, its inclusion significantly modifies the dynamics of the CPG architecture, which often leads to bifurcations. For instance, the force feedback can be exploited to derive information regarding the state of the system. In particular, the Tegotae approach can be adopted by coupling proprioceptive information with the state of the oscillation itself in the CPG model. This paper discusses this policy with respect to other types of feedback; it provides higher adaptivity and an optimal energy efficiency for reflex-like actuation. We believe this is the first attempt to analyse the optimal energy efficiency along with the adaptivity of the Tegotae approach.

Current status of reconfigurable assembly systems

2007 ◽  
Vol 2 (3) ◽  
pp. 303 ◽  
Author(s):  
Z.M. Bi ◽  
Lihui Wang ◽  
Sherman Y.T. Lang
Keyword(s):  
Current Status ◽  
Assembly Systems ◽  
Reconfigurable Assembly
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