Robot impact control inspired by human reflex

Shyh Woei Weng; Kuu-Young Young

doi:10.1109/ROBOT.1996.506551

Robot impact control inspired by human reflex

Shyh Woei Weng^*, Kuu-Young Young

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

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 language	English
Article number	506551
Pages (from-to)	2579-2585
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
DOIs	https://doi.org/10.1109/ROBOT.1996.506551
State	Published - 22 Apr 1996
Event	Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 22 Apr 1996 → 28 Apr 1996

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10.1109/ROBOT.1996.506551

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title = "Robot impact control inspired by human reflex",

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.",

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language = "English",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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TY - JOUR

T1 - Robot impact control inspired by human reflex

AU - Weng, Shyh Woei

AU - Young, Kuu-Young

PY - 1996/4/22

Y1 - 1996/4/22

N2 - 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.

AB - 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.

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DO - 10.1109/ROBOT.1996.506551

M3 - Conference article

AN - SCOPUS:0029694785

SN - 1050-4729

VL - 3

SP - 2579

EP - 2585

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

M1 - 506551

T2 - Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)

Y2 - 22 April 1996 through 28 April 1996

ER -

Robot impact control inspired by human reflex

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