TY - GEN
T1 - Can a two-link manipulator learn how to write?
AU - Alali, Basel
AU - Hirata, Kentaro
AU - Sugimoto, Kenji
PY - 2008/12/1
Y1 - 2008/12/1
N2 - This paper considers a version of the problem of how to teach robots to write characters in an actual environment. In particular, a feedforward controller is designed for two-link manipulators to improve tracking performance despite limited knowledge of the surroundings. An adaptive scheme, called MIMO-FEL (Multi-input Multi-output Feedback Error Learning), is employed to achieve the objective. After convergence, the feedforward controllers are switched depending on the target character to be written. This switching strategy is a clear contrast with the precise identification approach, which uses a single general-purpose controller.
AB - This paper considers a version of the problem of how to teach robots to write characters in an actual environment. In particular, a feedforward controller is designed for two-link manipulators to improve tracking performance despite limited knowledge of the surroundings. An adaptive scheme, called MIMO-FEL (Multi-input Multi-output Feedback Error Learning), is employed to achieve the objective. After convergence, the feedforward controllers are switched depending on the target character to be written. This switching strategy is a clear contrast with the precise identification approach, which uses a single general-purpose controller.
KW - Adaptation and learning in physical agents
KW - Adaptive control of systems
KW - Adaptive system and control
UR - http://www.scopus.com/inward/record.url?scp=79961019629&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961019629&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.0217
DO - 10.3182/20080706-5-KR-1001.0217
M3 - Conference contribution
AN - SCOPUS:79961019629
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -