A versatile biomimetic controller for contact tooling and haptic exploration

@article{Gowrishankar2012AVB,
  title={A versatile biomimetic controller for contact tooling and haptic exploration},
  author={Ganesh Gowrishankar and Nathana{\"e}l Jarrass{\'e} and Sami Haddadin and Alin Albu-Schaeffer and Etienne Burdet},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={3329-3334}
}
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… CONTINUE READING

Citations

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SHOWING 1-10 OF 25 CITATIONS

Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification

Yanan Li, Gowrishankar Ganesh, +3 authors Etienne Burdet
  • IEEE Transactions on Robotics
  • 2018
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CITES RESULTS

Contact motion planning including force direction with relaxing impact

  • IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
  • 2017
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CITES METHODS

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