Biomimetic Control Software for Robotic Arms
- 详细技术说明
- None
- *Abstract
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The University of Pittsburgh has developed robot control software that is unique in that it allows for safe and smooth anthropomorphic movement in the composite task space as well as based on the individual joint space of the robot. This type of control software allows real-time control over position and velocity of the arm, while limiting interactions forces and torques based on the environment.Applications* Currently used as a control platform for a robot operated by a monkey with a cortical neural prosthetic interface.* Can be used for any robotic platform that provides direct torque control of joint motors and sensing of joint position and torqueAdvantages* Takes into account composite task space.* Allows the monkey to learn to the use robot for interaction without harming the robot, monkey or other objects.Stage of Development* Software developedCopyright
- *Principal Investigation
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Name: Samuel Clanton
Department: Med-MD/PhD Program
Name: Andrew Schwartz, Dr.
Department: Med-Neurobiology
- 国家/地区
- 美国
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