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Cooperative and learning control for complex robot systems

  • Section 1: Control
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

The control problem of robot systems with unmodeled factors is discussed by using two examples. One example of such complex systems is a robot manipulator with Rubbertuators which have complicated dynamical characteristics such as the hysterisis and the compressibility of air. Another one is a multi-fingered robot hand manipulating an object under the influence of the task environment. The applicability of a learning control scheme to the former and a cooperative control scheme to the latter is examined through several experiments.

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References

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Author information

Authors and Affiliations

  1. Faculty of Engineering Science, Osaka University, Toyonaka, 560, Osaka, Japan

    Fumio Miyazaki, Osamu Sonoyama & Tetsuya Manabe

  2. West Japan Railway Corp., Japan

    Toshiro Manabe

Authors
  1. Fumio Miyazaki
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  2. Osamu Sonoyama
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  3. Toshiro Manabe
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  4. Tetsuya Manabe
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Miyazaki, F., Sonoyama, O., Manabe, T., Manabe, T. (1990). Cooperative and learning control for complex robot systems. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042514

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  • DOI: https://doi.org/10.1007/BFb0042514

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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