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Open AccessJournal ArticleDOI

A comparison of classical and learning controllers

Joseph Sun de la Cruz, +2 more
- 01 Jan 2011 - 
- Vol. 44, Iss: 1, pp 1102-1107
About: 
This article is published in IFAC Proceedings Volumes.The article was published on 2011-01-01 and is currently open access. It has received 4 citations till now. The article focuses on the topics: Open-loop controller & Control theory.

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Journal ArticleDOI

Modelling and Control of Robot Manipulators

Jon Rigelsford
- 01 Oct 2000 - 
TL;DR: In this article, the authors tried to read modelling and control of robot manipulators as one of the reading material to finish quickly, and they found that reading book can be a great choice when having no friends and activities.
Proceedings ArticleDOI

Online learning of inverse dynamics via Gaussian Process Regression

Joseph Sun de la Cruz, +2 more
TL;DR: The proposed approach for online learning of the inverse dynamics model using Gaussian Process Regression is compared to existing learning and fixed control algorithms and shown to be capable of fast initialization and learning rate.
Journal ArticleDOI

On-line Dynamic Model Learning for Manipulator Control

Joseph Sun de la Cruz, +4 more
- 01 Jan 2012 - 
TL;DR: The proposed approach for online learning of the dynamic model of a robot manipulator is tested on an industrial robot, and shown to outperform independent joint and fixed model-based control.
Proceedings ArticleDOI

Accelerating Model Learning with Inter-Robot Knowledge Transfer

Ndivhuwo Makanda, +2 more
TL;DR: This work proposes a scheme for collecting a sample of correspondences from the robots for training transfer models, and demonstrates the benefit of knowledge transfer in accelerating online learning of the inverse dynamics model between several robots, including between a low-cost Interbotix PhantomX Pincher arm and a more expensive and relatively heavier Kuka youBot arm.
References
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Proceedings Article

Learning Inverse Dynamics: A Comparison

Duy Nguyen-Tuong, +3 more
TL;DR: A comparison of the evaluation of learning qual- ity for each regression method using original data from SARCOS robot arm, as well as the robot tracking performance employing learned models shows that GPR and SVR achieve a superior learning precision and can be applied for real-time control obtaining higher accuracy.
Proceedings ArticleDOI

Synthesis of adaptive controllers for robot manipulators using a passive feedback systems approach

I.D. Landau, +1 more
TL;DR: This approach clarifies the rationale behind the various fixed and adaptive control laws synthesized using Lyapunov functions.
Proceedings ArticleDOI

Identification of humanoid robots dynamics using floating-base motion dynamics

Ko Ayusawa, +2 more
TL;DR: This paper proposes a method to estimate humanoid robots inertial parameters using a minimal set of sensors, where only joint angles and external forces information is required.
Proceedings ArticleDOI

Sparse online model learning for robot control with support vector regression

Duy Nguyen-Tuong, +2 more
TL;DR: This paper proposes an approximation of the support vector regression (SVR) by sparsification based on the linear independency of training data which is applicable in real-time online learning and exhibits competitive learning accuracy when compared with standard regression techniques.

LWPR: A Scalable Method for Incremental Online Learning in High Dimensions

Sethu Vijayakumar, +2 more
TL;DR: To the authors' knowledge, LWPR is the first truly incremental spatially localized learning method that can successfully and efficiently operate in very high dimensional spaces.
Related Papers (5)

On-line Dynamic Model Learning for Manipulator Control

Joseph Sun de la Cruz, +4 more
- 01 Jan 2012 - 

Experimental Studies of Adaptive Manipulator Control

Gunter Niemeyer, +1 more

Computed torque scheme based adaptive tracking for robot manipulators

Ming Liu

An adaptive approach to constrained robot motion control

R.R.Y. Zhen, +1 more

Prediction Error Based Adaptive Jacobian Tracking for Free-Floating Space Manipulators

Hanlei Wang, +1 more
- 08 Oct 2012 - 
Frequently Asked Questions (2)
Q1. What have the authors stated for future works in "A comparison of classical and learning controllers" ?

Future studies will involve experimental validation on physical robots as well as incorporating a-priori knowledge of the dynamic model of the system to improve performance of learning methods outside of the trained regions. 

This paper focuses on evaluating Locally Weighted Projection Regression ( LWPR ) as an alternative control method to traditional model-based control schemes.