ロボットの感覚運動制御のためのモデル適応
On Model Adaptation for Sensorimotor Control of Robots
行動と知覚の関係が不確かなロボットの運動を導く適応的感覚運動モデルの計算法を提案し、未知特性の変形物体の形状制御と未校正センサによる超音波プローブの柔軟操作で実証した。
著者: David Navarro-Alarcon, Andrea Cherubini, Xiang Li
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.
