Special Feature on Bio-Inspired Robotics

[...]biological principles usually originate from animal or even plant models for robots, which can sense, think, walk, swim, crawl, jump or even fly. [...]it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. In the Neural Inverse Op...

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Bibliographic Details
Published inApplied sciences Vol. 8; no. 5; p. 817
Main Authors Fukuda, Toshio, Chen, Fei, Shi, Qing
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 18.05.2018
Subjects
Animal models
Biomimetics
Control theory
Design
Extended Kalman filter
Inverse kinematics
Kinematics
Legs
Locomotion
Mapping
Neural networks
Optimal control
Perception
Planning
Position errors
Robotics
Robots
Walking
Beijing China
Japan
China
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Summary:[...]biological principles usually originate from animal or even plant models for robots, which can sense, think, walk, swim, crawl, jump or even fly. [...]it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. In the Neural Inverse Optimal Control scheme, a neural identifier, based on Recurrent High Orden Neural Network trained with an extended kalman filter algorithm, is used to obtain a model of the system, then, a control law is designed using such model with the inverse optimal control approach [12]. [...]they present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion [16]. The results show that the position error is solved by the research method with respect to the UR3 robot inverse kinematics with the joint angle less than 0.1 degrees and the output end tool less than 0.1 mm, achieving the required positioning for medical puncture surgery, which demands precise positioning of the robot to less than 1 mm [28].
ISSN:2076-3417
2076-3417
DOI:10.3390/app8050817