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Fundamental problems of robot control: Part II A nonlinear circuit theory towards an understanding of dexterous motions*

Published online by Cambridge University Press:  09 March 2009

Suguru Arimoto
Suguru Arimoto
Affiliation:
Faculty of Engineering, University of Tokyo, Bunkyo-ku, Tokyo, 113 Japan
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Summary

Part II continues to develop a hyper-stability framework for presenting physical interpretations of dexterous motion controls, such as hybrid position/force, impedance, model-based adaptive, learning control and coordination. In all cases passivity induced by introduction of a quasi-natural potential plays a key role. In view of these considerations, the final section discusses the possibility of development of a nonlinear circuit theory based on feedback connections of hyper-stable blocks, which may give rise to a physical understanding of dexterous and skilled motions for nonlinear mechanical systems and, eventually lead to the design of intelligent functions implementable in robotic machines.

Keywords

Dexterous motionsPassivityNonlinear circuit theoryHyper-stable blocks'ntelligent robots

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 111 - 122
Copyright
Copyright © Cambridge University Press 1995

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References

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