NDLI: MNSM-inspired method for the motion control of dual-arm robot

Content Provider	IEEE Xplore Digital Library
Author	Zhenli Lu Silva, F. Liwei Zhang Huigang Xu
Copyright Year	2013
Description	Author affiliation: Changshu Inst. of Technol., Changshu, China (Zhenli Lu; Huigang Xu) \|\| Dept. of Electron., Telecommun. & Inf., Univ. of Aveiro, Aveiro, Portugal (Silva, F.) \|\| Dept. of Inf., Univ. of Hamburg, Hamburg, Germany (Liwei Zhang)
Abstract	This work presents a MNSM (Mirror Neuron System Mechanism) inspired method to control the motion of a dual-arm robot. The new symmetrical action can be classified as instinct-following arbitrary trajectory and goal-based motion; they are planned by the dual-arm robot planner, and implemented by the dual-arm robot within a master/slave protocol. The master arm uses a motion planner to generate corresponding signal for the motor neuron. Then the motor neuron controls the motor to move the joint of the robot. The activities of motor neuron can also fire the MNSSL (Mirror Neuron System of Symmetry Limb) and it will generate the code about the movement and pass it to the receiver of the MNS (Mirror Neuron System) in the slave arm. The MNS of the slave arm will decode the information to generate the corresponding signal of the motor neuron to drive the motor to move the joints. The effective symmetrical motions are also linked with different vocabularies, and all these are stored in the memory as knowledge. High level mirror activities fired by high level neuron command, speech stimulus, etc will use the knowledge in the memory to control the dual-arm robot to realize different symmetrical motions. This study provides not only a new method for the dual-arm robot to realize some given motion task, but also firstly a way by robot motion demonstration to understand the mirror movement mechanism between human's symmetrical limbs.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	1341
Ending Page	1346
File Size	1668246
Page Count	6
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739651
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mirrors Neurons Robots Joints Speech Fatigue Control systems
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
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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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