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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…
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Keywords:
identifier;
control;
modular robot;
robust optimal ... See more keywords
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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)…
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Keywords:
control;
optimal control;
modular robot;
zero sum ... See more keywords
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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…
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Keywords:
disturbance rejection;
control;
robot manipulators;
robot ... See more keywords
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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…
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Keywords:
high level;
system;
modular robot;
perception ... See more keywords
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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…
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Keywords:
improved kane;
modular robot;
model;
robot ... See more keywords
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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…
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Keywords:
modular robot;
robot;
neural state;
state machine ... See more keywords