Independent learning of internal models for kinematic and dynamic control of reaching

10.1038/14826 ◽  
1999 ◽  
Vol 2 (11) ◽  
pp. 1026-1031 ◽  
Author(s):  
John W. Krakauer ◽  
Maria-Felice Ghilardi ◽  
Claude Ghez
Keyword(s):  
Dynamic Control ◽  
Internal Models ◽  
Independent Learning ◽  
Kinematic And Dynamic Control

scholarly journals Energy-Saver Mobile Manipulator Based on Numerical Methods

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1100 ◽  
Author(s):  
Julio Francisco Acosta Núñez ◽  
Víctor Hugo Andaluz Ortiz ◽  
Guillermo González-de-Rivera Peces ◽  
Javier Garrido Salas
Keyword(s):  
Energy Consumption ◽  
Numerical Methods ◽  
Energy Use ◽  
Dynamic Control ◽  
Robotic System ◽  
Experimental Results ◽  
Mobile Manipulator ◽  
Curvature Analysis ◽  
Kinematic And Dynamic Control ◽  
Unified Method

The work presents the kinematic and dynamic control of a mobile robotic manipulator system based on numerical methods. The proposal also presents the curvature analysis of a path not parameterized in time, for the optimization of energy consumption. The energy optimization considers two aspects: the velocity of execution in curves and the amount of movements generated by the robotic system. When a curve occurs on the predefined path, the execution velocity is analyzed throughout the system in a unified method to prevent skid effects from affecting the mobile manipulator, while the number of movements is limited by the redundancy presented by the robotic system to optimize energy use. The experimental results are shown to validate the mechanical and electronic construction of the system, the proposed controllers, and the saving of energy consumption.

scholarly journals Combined kinematic and dynamic control of vehicle-manipulator systems

Mechatronics ◽  
2020 ◽  
Vol 69 ◽  
pp. 102380
Author(s):  
Ida-Louise G. Borlaug ◽  
Kristin Y. Pettersen ◽  
Jan Tommy Gravdahl
Keyword(s):  
Dynamic Control ◽  
Kinematic And Dynamic Control

scholarly journals Combined kinematic and dynamic control of an underwater swimming manipulator

2019 ◽  
Vol 52 (21) ◽  
pp. 8-13 ◽  
Author(s):  
I.-L. G. Borlaug ◽  
J. Sverdrup-Thygeson ◽  
K.Y. Pettersen ◽  
J.T. Gravdahl
Keyword(s):  
Dynamic Control ◽  
Kinematic And Dynamic Control

Internal Models and Body Schema in Tool Use

2012 ◽  
Vol 220 (1) ◽  
pp. 50-52 ◽  
Author(s):  
Martina Rieger
Keyword(s):  
Tool Use ◽  
Body Schema ◽  
Internal Models
Sign in / Sign up

Export Citation Format

Share Document