Synergy-based learning of hybrid position/force control for redundant manipulators

摘要

Describes an intelligent control architecture designed to endow human-like capabilities to robots and report experimental results that demonstrate the utility of this architecture in controlling a redundant dynamic manipulator in a hybrid position/force control task. Motor synergies that arise when control of a subset of the available degrees of freedom is coupled and coordinated to accomplish specific task sub-goals are used to simplify the problem, of controlling redundant systems by reducing the dimensionality of the control space. Using synergies as a basis control set gives the controller the general ability to execute novel tasks in unstructured environments. In addition, the rapid learning capabilities of the controller permit refinement of control through the acquisition of skilled control with practice.