Can a two-link manipulator learn how to write?

Basel Alali, Kentaro Hirata, Kenji Sugimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Fingerprint

Manipulators
Controllers
Robots
Feedback

Keywords

  • Adaptation and learning in physical agents
  • Adaptive control of systems
  • Adaptive system and control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Alali, B., Hirata, K., & Sugimoto, K. (2008). Can a two-link manipulator learn how to write? In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.0217

Can a two-link manipulator learn how to write? / Alali, Basel; Hirata, Kentaro; Sugimoto, Kenji.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Alali, B, Hirata, K & Sugimoto, K 2008, Can a two-link manipulator learn how to write? in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.0217
Alali B, Hirata K, Sugimoto K. Can a two-link manipulator learn how to write? In IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.0217
Alali, Basel ; Hirata, Kentaro ; Sugimoto, Kenji. / Can a two-link manipulator learn how to write?. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.
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