Implementation of a neuromuscular-like control for compliance on a PUMA 560 robot

Chi-Haur Wu*, Shih Lang Chang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


In comparison with robot manipulators, it is widely acknowledged that primate limbs excel robots in facile movements requiring compliance control. After certain salient properties of the neuromuscular system have been identified in our earlier works, a neuromuscular-like controller was proposed. This paper will extend our findings in modeling the biological muscle-reflex mechanism to actual applications. Experiments on a PUMA 560 robot demonstrated that the neuromuscular-like controller will reflex to any changing displacement and enhance the compliant forces for the changing motion without using a force sensor. The proposed controller can adapt to either position control or force control.

Original languageEnglish (US)
Pages (from-to)1597-1602
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 1995

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality


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