NDLI: Implementation of sensory motor coordination for robotic grasping

Content Provider	IEEE Xplore Digital Library
Author	Tae Hyoung Kim Tae Seon Kim Sung Soo Dong Chong Ho Lee
Copyright Year	2003
Description	Author affiliation: Dept. of Inf. Technol. & Telecommun., Inha Univ., Inchon, South Korea (Tae Hyoung Kim)
Abstract	In this paper, human motor learning model based sensory motor coordination (SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models, which connect sensor to motor directly, the proposed method used biologically inspired human memory structure in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensor data are fed to short-term memory (STM) to design motor plan promptly using direct connection architecture between sensor and motor, and single layered neural network was applied to mimic STM in human memory structure. Through motor learning procedure, successful information is transferred from STM to long-term memory (LTM). Experimental results showed that the proposed method can control the grasping force adaptable to various shapes and types of grasping objects, and also it showed quicker grasping-behavior learning time compare to simple feedback system.
Sponsorship	IEEE Robotics & Automation Soc
Starting Page	181
Ending Page	185
File Size	335023
Page Count	5
File Format	PDF
ISBN	0780378660
DOI	10.1109/CIRA.2003.1222085
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-16
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robot kinematics Biosensors Sensor phenomena and characterization Humans Sliding mode control Grasping Force control Biological system modeling Shape control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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