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Conference Paper: Immunology-based motion control for modular hyper-redundant manipulators

TitleImmunology-based motion control for modular hyper-redundant manipulators
Authors
Lau, HYKNg, AKS
KeywordsArtificial immune system
Biological-inspired robot
Distributed control
Hyer-redundant robot
Modular robot
Robot control
Robotics
Issue Date2005
Citation
Ifac Proceedings Volumes (Ifac-Papersonline), 2005, v. 16, p. 163-168 How to Cite?
AbstractArtificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance. This paper reports the application of the existing AIS paradigm for the distributive control of a modular multi-jointed, hyper-redundant manipulator. Modular robot usually implemented with simplified mathematical model to cope with the scenario of limited computation power and memory. in this paper, we investigate the viability of a multiagent immunology-based motion control for the trajectory control of modular hyper-redundant manipulators. Copyright © 2005 IFAC.
Persistent Identifierhttp://hdl.handle.net/10722/100028
ISSN
1474-6670
References
References in Scopus

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_HK
dc.contributor.authorNg, AKSen_HK
dc.date.accessioned2010-09-25T18:54:00Z-
dc.date.available2010-09-25T18:54:00Z-
dc.date.issued2005en_HK
dc.identifier.citationIfac Proceedings Volumes (Ifac-Papersonline), 2005, v. 16, p. 163-168en_HK
dc.identifier.issn1474-6670en_HK
dc.identifier.urihttp://hdl.handle.net/10722/100028-
dc.description.abstractArtificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance. This paper reports the application of the existing AIS paradigm for the distributive control of a modular multi-jointed, hyper-redundant manipulator. Modular robot usually implemented with simplified mathematical model to cope with the scenario of limited computation power and memory. in this paper, we investigate the viability of a multiagent immunology-based motion control for the trajectory control of modular hyper-redundant manipulators. Copyright © 2005 IFAC.en_HK
dc.languageengen_HK
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)en_HK
dc.subjectArtificial immune systemen_HK
dc.subjectBiological-inspired roboten_HK
dc.subjectDistributed controlen_HK
dc.subjectHyer-redundant roboten_HK
dc.subjectModular roboten_HK
dc.subjectRobot controlen_HK
dc.subjectRoboticsen_HK
dc.titleImmunology-based motion control for modular hyper-redundant manipulatorsen_HK
dc.typeConference_Paperen_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-79960724594en_HK
dc.identifier.hkuros107476en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-79960724594&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume16en_HK
dc.identifier.spage163en_HK
dc.identifier.epage168en_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK
dc.identifier.scopusauthoridNg, AKS=7202763566en_HK
dc.identifier.issnl1474-6670-

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