arXiv
Open Access
2019
On Model Adaptation for Sensorimotor Control of Robots
David Navarro-Alarcon
Andrea Cherubini
Xiang Li
Abstrak
In this article, we address the problem of computing adaptive sensorimotor models that can be used for guiding the motion of robotic systems with uncertain action-to-perception relations. The formulation of the uncalibrated sensor-based control problem is first presented, then, various computational methods for building adaptive sensorimotor models are derived and analysed. The proposed methodology is exemplified with two cases of study: (i) shape control of deformable objects with unknown properties, and (ii) soft manipulation of ultrasonic probes with uncalibrated sensors.
Penulis (3)
D
David Navarro-Alarcon
A
Andrea Cherubini
X
Xiang Li
Akses Cepat
Informasi Jurnal
- Tahun Terbit
- 2019
- Bahasa
- en
- Sumber Database
- arXiv
- Akses
- Open Access ✓