Sensorimotor Control Using Adaptive Neuro-Fuzzy Inference for Human-Like Arm Movement
Gokhan Gungor,
Mehdi Afshari
Abstract:In this study, a sensorimotor controller is designed to characterize the required muscle force to enable a robotics system to perform a human-like circular movement. When the appropriate muscle internal forces are chosen, the arm end-point tracks the desired path via joint-space feedback. An objective function of the least-change rate of muscle forces is determined to find suitable feedback gains. The parameter defining the muscle force is then treated as a learning parameter through an adaptive neuro-fuzzy in… Show more
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