Estimation of inertial parameters of manipulator loads and links
International Journal of Robotics Research
Neural networks for control systems: a survey
Automatica (Journal of IFAC)
Multiple paired forward and inverse models for motor control
Neural Networks - Special issue on neural control and robotics: biology and technology
A Multilayer Perceptrons Model for the Stability of a Bipedal Robot
Neural Processing Letters
Fundamentals of Robotics: Analysis and Control
Fundamentals of Robotics: Analysis and Control
Fundamentals of Artificial Neural Networks
Fundamentals of Artificial Neural Networks
Statistical Learning for Humanoid Robots
Autonomous Robots
Modeling of Robot Dynamics Based on a Multi-Dimensional RBF-Like Neural Network
ICIIS '99 Proceedings of the 1999 International Conference on Information Intelligence and Systems
Incremental Online Learning in High Dimensions
Neural Computation
MOSAIC Model for Sensorimotor Learning and Control
Neural Computation
PD Control of robot with velocity estimation and uncertainties compensation
International Journal of Robotics and Automation
Learning Robot Dynamics for Computed Torque Control Using Local Gaussian Processes Regression
LAB-RS '08 Proceedings of the 2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems
Local Dimensionality Reduction for Non-Parametric Regression
Neural Processing Letters
Learning Dynamic Obstacle Avoidance for a Robot Arm Using Neuroevolution
Neural Processing Letters
Bio-inspired control model for object manipulation by humanoid robots
IWANN'07 Proceedings of the 9th international work conference on Artificial neural networks
Learning multiple models of non-linear dynamics for control under varying contexts
ICANN'06 Proceedings of the 16th international conference on Artificial Neural Networks - Volume Part I
Variable neural networks for adaptive control of nonlinear systems
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Robust radial basis function neural networks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Cerebellar Input Configuration Toward Object Model Abstraction in Manipulation Tasks
IEEE Transactions on Neural Networks
Fuzzily Connected Multimodel Systems Evolving Autonomously From Data Streams
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Cerebellarlike Corrective Model Inference Engine for Manipulation Tasks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Hi-index | 0.00 |
This paper presents a control model for object manipulation. Properties of objects and environmental conditions influence the motor control and learning. System dynamics depend on an unobserved external context, for example, work load of a robot manipulator. The dynamics of a robot arm change as it manipulates objects with different physical properties, for example, the mass, shape, or mass distribution. We address active sensing strategies to acquire object dynamical models with a radial basis function neural network (RBF). Experiments are done using a real robot's arm, and trajectory data are gathered during various trials manipulating different objects. Biped robots do not have high force joint servos and the control system hardly compensates all the inertia variation of the adjacent joints and disturbance torque on dynamic gait control. In order to achieve smoother control and lead tomore reliable sensorimotor complexes, we evaluate and compare a sparse velocity-driven versus a dense position-driven control scheme.