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 publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - Dec 1 2008
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

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

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Alali, B., Hirata, K., & Sugimoto, K. (2008). Can a two-link manipulator learn how to write? In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.0217