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Proceedings Paper

Intelligent control of a highly flexible robotic structure with hundreds of motor elements
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Paper Abstract

As the number of the degrees of motion freedom increase in a robotic system, so grows the difficulty of control. We describe a model of a novel highly flexible robotic architecture composed of hundreds of motor elements, each associated with a unique degree of motion freedom. This new robotic architecture possesses a variably compliant structure that allows for the controlled distribution of loads and forces, and for the maintenance of different conformations. We then suggest two methods of intelligent control to manage the many motor elements. One method derives from neural networks, the other involves algorithms inspired by the biological immune system. Both methods are based on the system's perception of its own kinematics, and later self-prediction of the forces generated by coordinated subsets of motor elements that accomplish robot mobility and other work upon the environment.

Paper Details

Date Published: 27 May 2005
PDF: 10 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.602608
Show Author Affiliations
Selahattin Ozcelik, Texas A&M Univ. (United States)
Michael Blackburn, SSC San Diego (United States)


Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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