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Modelling and Control of Robot Manipulators
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An introduction to kinematics Differential Kinematics and Statics Dynamics Trajectory Planning Motion Control Interaction Control Actuators and Sensors Control Architecture Appendices.Abstract:
Introduction Kinematics Differential Kinematics and Statics Dynamics Trajectory Planning Motion Control Interaction Control Actuators and Sensors Control Architecture Appendices A. Linear Algebra B. Rigid Body Mechanics C. Feedback Controlread more
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Journal ArticleDOI
Dynamical movement primitives: Learning attractor models for motor behaviors
TL;DR: Dynamical movement primitives is presented, a line of research for modeling attractor behaviors of autonomous nonlinear dynamical systems with the help of statistical learning techniques, and its properties are evaluated in motor control and robotics.
Journal ArticleDOI
Resilient machines through continuous self-modeling.
TL;DR: A robot is described that can recover from change autonomously, through continuous self-modeling, and this concept may help develop more robust machines and shed light on self- modeling in animals.
Proceedings ArticleDOI
Policy Gradient Methods for Robotics
Jan Peters,Stefan Schaal +1 more
TL;DR: An overview on learning with policy gradient methods for robotics with a strong focus on recent advances in the field is given and how the most recently developed methods can significantly improve learning performance is shown.
Book
The Computational Neurobiology of Reaching and Pointing: A Foundation for Motor Learning
Reza Shadmehr,Steven P. Wise +1 more
TL;DR: The Computational Neurobiology of Reaching and Pointing addresses the neural mechanisms of one important form of motor learning and presents a theory of sensorially guided reaching and pointing that evolves organically based on computational principles rather than a traditional structure-by-structure approach.
Journal ArticleDOI
Present and future robot control development—An industrial perspective
TL;DR: The main conclusion of the presentation is that industrial robot development is far away from its limits and that a lot of research and development is needed to obtain a more widely use of robot automation in industry.