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Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage
We present a comprehensive tutorial review that explores the application of bio-inspired approaches to robot control systems for grappling and manipulating a wide range of space debris targets. Current robot manipulator control systems exploit limited techniques which can be supplemented by addition...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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MDPI
2020
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7345424/ https://www.ncbi.nlm.nih.gov/pubmed/32408615 http://dx.doi.org/10.3390/biomimetics5020019 |
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author | Ellery, Alex |
author_facet | Ellery, Alex |
author_sort | Ellery, Alex |
collection | PubMed |
description | We present a comprehensive tutorial review that explores the application of bio-inspired approaches to robot control systems for grappling and manipulating a wide range of space debris targets. Current robot manipulator control systems exploit limited techniques which can be supplemented by additional bio-inspired methods to provide a robust suite of robot manipulation technologies. In doing so, we review bio-inspired control methods because this will be the key to enabling such capabilities. In particular, force feedback control may be supplemented with predictive forward models and software emulation of viscoelastic preflexive joint behaviour. This models human manipulation capabilities as implemented by the cerebellum and muscles/joints respectively. In effect, we are proposing a three-level control strategy based on biomimetic forward models for predictive estimation, traditional feedback control and biomimetic muscle-like preflexes. We place emphasis on bio-inspired forward modelling suggesting that all roads lead to this solution for robust and adaptive manipulator control. This promises robust and adaptive manipulation for complex tasks in salvaging space debris. |
format | Online Article Text |
id | pubmed-7345424 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-73454242020-07-09 Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage Ellery, Alex Biomimetics (Basel) Review We present a comprehensive tutorial review that explores the application of bio-inspired approaches to robot control systems for grappling and manipulating a wide range of space debris targets. Current robot manipulator control systems exploit limited techniques which can be supplemented by additional bio-inspired methods to provide a robust suite of robot manipulation technologies. In doing so, we review bio-inspired control methods because this will be the key to enabling such capabilities. In particular, force feedback control may be supplemented with predictive forward models and software emulation of viscoelastic preflexive joint behaviour. This models human manipulation capabilities as implemented by the cerebellum and muscles/joints respectively. In effect, we are proposing a three-level control strategy based on biomimetic forward models for predictive estimation, traditional feedback control and biomimetic muscle-like preflexes. We place emphasis on bio-inspired forward modelling suggesting that all roads lead to this solution for robust and adaptive manipulator control. This promises robust and adaptive manipulation for complex tasks in salvaging space debris. MDPI 2020-05-12 /pmc/articles/PMC7345424/ /pubmed/32408615 http://dx.doi.org/10.3390/biomimetics5020019 Text en © 2020 by the author. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Review Ellery, Alex Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage |
title | Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage |
title_full | Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage |
title_fullStr | Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage |
title_full_unstemmed | Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage |
title_short | Tutorial Review of Bio-Inspired Approaches to Robotic Manipulation for Space Debris Salvage |
title_sort | tutorial review of bio-inspired approaches to robotic manipulation for space debris salvage |
topic | Review |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7345424/ https://www.ncbi.nlm.nih.gov/pubmed/32408615 http://dx.doi.org/10.3390/biomimetics5020019 |
work_keys_str_mv | AT elleryalex tutorialreviewofbioinspiredapproachestoroboticmanipulationforspacedebrissalvage |