Decentralized robust optimal control for modular robot manipulators via critic-identifier structure-based adaptive dynamic programming
Sign Up to like & getrecommendations! Published in 2018 at "Neural Computing and Applications"
DOI: 10.1007/s00521-018-3714-8
Abstract: This paper presents a decentralized robust optimal control method for modular robot manipulators (MRMs) via a critic-identifier structure-based adaptive dynamic programming (ADP) scheme. The robust control problem of MRMs is transformed into an optimal compensation… read more here.
Keywords: identifier; control; modular robot; robust optimal ... See more keywords
Zero-sum game-based neuro-optimal control of modular robot manipulators with uncertain disturbance using critic only policy iteration
Sign Up to like & getrecommendations! Published in 2021 at "Neurocomputing"
DOI: 10.1016/j.neucom.2021.04.032
Abstract: Abstract In this paper, a zero-sum differential game strategy-based neuro-optimal control method is presented via critic only policy iteration-adaptive dynamic programming (COPI-ADP) approach to address optimal trajectory tracking control problem of modular robot manipulators (MRMs)… read more here.
Keywords: control; optimal control; modular robot; zero sum ... See more keywords
Decentralized robust active disturbance rejection control of modular robot manipulators: an experimental investigation with emotional pHRI
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3166597
Abstract: This paper presents an active disturbance rejection control (ADRC) method for modular robot manipulators (MRMs) based on extended state observer (ESO), which solves the problem of trajectory tracking when modular robot manipulators facing the emotional… read more here.
Keywords: disturbance rejection; control; robot manipulators; robot ... See more keywords
An integrated system for perception-driven autonomy with modular robots
Sign Up to like & getrecommendations! Published in 2018 at "Science Robotics"
DOI: 10.1126/scirobotics.aat4983
Abstract: A robot autonomously completes tasks by transforming its body to match its capabilities to newly encountered environments. The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments… read more here.
Keywords: high level; system; modular robot; perception ... See more keywords
Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot
Sign Up to like & getrecommendations! Published in 2017 at "Mathematical Problems in Engineering"
DOI: 10.1155/2017/4028602
Abstract: We propose an improved Kane dynamic model theory for the 7-DOF modular robot in this paper, and the model precision is improved by the improved function . We designed three types of progressive modular joints… read more here.
Keywords: improved kane; modular robot; model; robot ... See more keywords
Spiking neural state machine for gait frequency entrainment in a flexible modular robot
Sign Up to like & getrecommendations! Published in 2020 at "PLoS ONE"
DOI: 10.1371/journal.pone.0240267
Abstract: We propose a modular architecture for neuromorphic closed-loop control based on bistable relaxation oscillator modules consisting of three spiking neurons each. Like its biological prototypes, this basic component is robust to parameter variation but can… read more here.
Keywords: modular robot; robot; neural state; state machine ... See more keywords