RoboCup 2000: Robot Soccer World Cup IV
RoboCup 2000: Robot Soccer World Cup IV
Legged robot gait locus generation based on genetic algorithms
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Autonomous Learning of Stable Quadruped Locomotion
RoboCup 2006: Robot Soccer World Cup X
Towards a Methodology for Stabilizing the Gaze of a Quadrupedal Robot
RoboCup 2006: Robot Soccer World Cup X
A Neural Network-Based Approach to Robot Motion Control
RoboCup 2007: Robot Soccer World Cup XI
Learning to stabilize the head of a quadrupedal robot with an artificial vestibular system
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Despite efforts to design precise motor controllers, robot joints do not always move exactly as desired. This paper introduces a general model-based method for improving the accuracy of joint control. First, a model that predicts the effects of joint requests is built based on empirical data. Then this model is approximately inverted to determine the control requests that will most closely lead to the desired movements. We implement and validate this approach on a popular, commercially available robot, the Sony Aibo ERS-210A.