Abstract
Active inference controller has the advantages of simplicity, high efficiency and low computational complexity. It is based on active inference framework which is prominent in neuroscientific theory of the brain. Although active inference has been successfully applied to neuroscience, its application in robotics are highly limited. In this paper, an active inference controller is adopted to steer a 2-DOF parallel manipulator movement from the initial state to the desired state. Firstly, the active inference controller is introduced. Secondly, Dynamic model of parallel manipulator system with constraints is established by Udwaida-Kalaba equation. Thirdly, apply the active inference controller to the parallel manipulator system. Finally, the simplicity and effectiveness of control effect are verified by numerical simulations.
Supported by the NSFC Programs (No. 52175019, No. 61872217), Beijing Natural Science Foundation (No. 3212009).
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Li, D., He, Y., Su, Y., Zhao, X., Huang, J., Cheng, L. (2022). Control Design for a Planar 2-DOF Parallel Manipulator: An Active Inference Based Approach. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_6
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