A versatile biomimetic controller for contact tooling and haptic exploration

This article presents a versatile controller that enables various contact tooling tasks with minimal prior knowledge of the tooled surface. The controller is derived from results of neuroscience studies that investigated the neural mechanisms utilized by humans to control and learn complex interactions with the environment. We demonstrate here the versatility of this controller in simulations of cutting, drilling and surface exploration tasks, which would normally require different control paradigms. We also present results on the exploration of an unknown surface with a 7-DOF manipulator, where the robot builds a 3D surface map of the surface profile and texture while applying constant force during motion. Our controller provides a unified control framework encompassing behaviors expected from the different specialized control paradigms like position control, force control and impedance control.     «

This article presents a versatile controller that enables various contact tooling tasks with minimal prior knowledge of the tooled surface. The controller is derived from results of neuroscience studies that investigated the neural mechanisms utilized by humans to control and learn complex interactions with the environment. We demonstrate here the versatility of this controller in simulations of cutting, drilling and surface exploration tasks, which would normally require different control parad...     »

biomimetics; cutting; drilling; force control; haptic interfaces; human-robot interaction; industrial manipulators; mechanical contact; position control; 3D surface map; 7-DOF manipulator; contact tooling tasks; cutting tasks; drilling tasks; force control; haptic exploration; impedance control; neural mechanisms; neuroscience studies; position control; surface exploration tasks; surface profile; surface texture; versatile biomimetic controller; Feedforward neural networks; Force; Humans; Impedance; Robots; Surface impedance; Surface texture     «

biomimetics; cutting; drilling; force control; haptic interfaces; human-robot interaction; industrial manipulators; mechanical contact; position control; 3D surface map; 7-DOF manipulator; contact tooling tasks; cutting tasks; drilling tasks; force control; haptic exploration; impedance control; neural mechanisms; neuroscience studies; position control; surface exploration tasks; surface profile; surface texture; versatile biomimetic controller; Feedforward neural networks; Force; Humans; Impeda...     »