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IROS
2009
IEEE

Control of redundant robots using learned models: An operational space control approach

9 years 1 days ago
Control of redundant robots using learned models: An operational space control approach
Abstract— We present an adaptive control approach combining forward kinematics model learning methods with the operational space control approach. This combination endows the robot with the ability to realize hierarchically organised learned tasks in parallel, using tasks null space projectors built upon the learned models. We illustrate the proposed method on a simulated 3 degrees of freedom planar robot. This system is used as a benchmark to compare our method to an alternative approach based on learning an extended Jacobian. We show the better versatility of the retained approach with respect to the latter.
Camille Salaün, Vincent Padois, Olivier Sigau
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Camille Salaün, Vincent Padois, Olivier Sigaud
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