A parameterless biologically inspired control algorithm robust to nonlinearities, dead-times and low-pass filtering effects

  • Authors:

  • Fabio DallaLibera;Shuhei Ikemoto;Takashi Minato;Hiroshi Ishiguro;Emanuele Menegatti;Enrico Pagello

  • Affiliations:

  • Dep. of Information Engineering, Faculty of Engineering, Padua University, Padua, Italy;Dep. of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, Osaka, Japan;ERATO, Japan Science and Technology Agency, Osaka University, Osaka, Japan;Dep. of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan and ERATO, Japan Science and Technology Agency, Osaka University, Osaka, Japan;Dep. of Information Engineering, Faculty of Engineering, Padua University, Padua, Italy;Dep. of Information Engineering, Faculty of Engineering, Padua University, Padua, Italy

  • Venue:
  • SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
  • Year:
  • 2010

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Abstract

A biologically inspired control algorithm for robot control was introduced in a previous work. The algorithm is robust to noisy sensor information and hardware failures. In this paper a new version of the algorithm is presented. The new version is able to cope with highly non-linear systems and presents an improved robustness to low-pass filter effects and dead-times. Automatic tuning of the parameters is also introduced, providing a completely parameterless algorithm.