Immunology-Based Motion Control For Modular Hyper-Redundant Manipulators
| Authors: | Ng Alex K. S., The University Of Hong Kong, Hong Kong
Lau Henry Y. K., The University of Hong Kong, Hong Kong |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control II |
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| Keywords: | Artificial Immune System, Biological-inspired Robot, Distributed Control, Robot Control, Robotics, Modular Robot |
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Abstract
Artificial 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.
