Open AccessBook
Modeling and Control of Robot Manipulators
TLDR
In this paper, the authors provide a guide to the foundations of robotics: modelling, mechanics and control, including kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.Abstract:
This text, aimed at senior undergraduate/graduate courses in robotics, provides a guide to the foundations of robotics: modelling, mechanics and control. Fundamental aspects covered include kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.read more
Citations
More filters
Book
Introduction to Autonomous Mobile Robots
TL;DR: Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.
BookDOI
Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control
TL;DR: In this article, the authors present a survey of the latest tools for analysis and design of advanced guidance, navigation and control systems and present new material on underwater vehicles and surface vessels.
Journal ArticleDOI
Is imitation learning the route to humanoid robots
TL;DR: In this article, a review of recent developments in artificial intelligence and neural computation: learning from imitation and the development of humanoid robots is presented. But the authors focus on three important issues: efficient motor learning, the connection between action and perception, and modular motor control in the form of movement primitives.
Journal ArticleDOI
2008 Special Issue: Reinforcement learning of motor skills with policy gradients
Jan Peters,Stefan Schaal +1 more
TL;DR: This paper examines learning of complex motor skills with human-like limbs, and combines the idea of modular motor control by means of motor primitives as a suitable way to generate parameterized control policies for reinforcement learning with the theory of stochastic policy gradient learning.
Journal ArticleDOI
Real-time inverse kinematics techniques for anthropomorphic limbs
TL;DR: A combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints suitable for an anthropomorphic arm or leg.