How Does a Robot Find Redundancy by Itself?

  • Authors:

  • Koh Hosoda;Minoru Asada

  • Affiliations:

  • -;-

  • Venue:
  • EWLR-8 Proceedings of the 8th European Workshop on Learning Robots: Advances in Robot Learning
  • Year:
  • 1999

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Abstract

Finding redundancy with respect to a given task in an environment is important ability for a robot to dynamically assign the degrees of freedom to several tasks. In this paper, an adaptive controller is proposed that does not only estimate appropriate control parameters but also can find redundancy with respect to the given task dynamically. The controller is derived based on a least-mean-square method. A simulation result of a camera-manipulator system is shown to demonstrate that the proposed method can find redundancy automatically.