CPG-Based Manipulation: Adaptive Switchings of Grasping Fingers by Joint Angle Feedback

Abstract— Human can efficiently grasp and dextrously manipulate various objects using their fingers cooperatively. When they attain proficiency in the rotating manipulation of a cylindrical object, their fingers are rhythmically controlled. Neurophysiological studies have revealed that rhythmic motor patterns such as locomotion in animals and insects are coordinated by neural circuits referred to as central pattern generators (CPG). CPGbased control is efficient for the rhythmic rotating manipulation. In this paper, the CPG-based control method for the rotating manipulation that can adaptively change the issuing cycle of motion-triggers is proposed. The CPG model consists of the mutual inhibition network and the rotating manipulation is performed by the motion-triggers that are issued from the CPG model. The smooth change of the desired velocity can be given by the output of neurons that keep smooth increase and decrease. Experimental results using 4-fingered hand system sugges...

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Yuichi Kurita, Kazuyuki Nagata, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara
• Keywords: CPG Model, ICRA 2005, Rhythmic Rotating Manipulation, Robotics, Rotating Manipulation