Arms/Motor Control
The Cog Shop
MIT Artificial Intelligence Laboratory
545 Technology Square, #920
Cambridge, MA 02139
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Infants have a number of reflexes that are inhibited later in development. One of these
reflexes, the withdrawal reflex, causes the arm to withdrawal if the top of the hand is
touched. In this clip, the first revision arm has been fitted with a simple claw-shaped
hand with touch-sensitive pads. As the arm reaches out, the touch pads trigger a reflex
withdrawal.
Most robotic arms are designed for power and speed, which generally results in systems
that are not safe to interact with. We avoid this problem by using a compliant arm based
upon series elastic actuators. These arms are safe enough for us to interact with
directly, as can be seen in this clip.
This video clip shows the first footage of the second revision of Cog's arms. Cog now
has both a left and a right arm, both based upon the series elastic actuator design. The
first clip shows the new arms and their range of motion
The second clip demonstrates the natural dynamics of the arms. The arms are powered on,
but are not receiving any motion commands. The motion that you see in this clip is the
result of manually twisting the shoulders.
One of the motor control techniques that our group has been experimenting with is the
use of coupled oscillators. This clip shows the second revision ams being driven by
coupled oscillators.
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