COLLABORATIVE CONTROL IN A HUMANOID DYNAMIC TASK

Diego Pardo, Cecilio Angulo

Abstract

This paper describes a collaborative control scheme that governs the dynamic behavior of an articulated mobile robot with several degrees of freedom (DOF) and redundancies. These types of robots need a high level of coordination between the motors performance to complete their motions. In the employed scheme, the actuators involved in a specific task share information, computing integrated control actions. The control functions are found using a stochastic reinforcement learning technique allowing the robot to automatically generate them based on experiences. This type of control is based on a modularization principle: complex overall behavior is the result of the interaction of individual simple components. Unlike the standard procedures, this approach is not meant to follow a trajectory generated by a planner, instead, the trajectory emerges as a consequence of the collaboration between joints movements while seeking the achievement of a goal. The learning of the sensorimotor coordination in a simulated humanoid is presented as a demonstration.

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Paper Citation


in Harvard Style

Pardo D. and Angulo C. (2007). COLLABORATIVE CONTROL IN A HUMANOID DYNAMIC TASK . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 174-180. DOI: 10.5220/0001629001740180


in Bibtex Style

@conference{icinco07,
author={Diego Pardo and Cecilio Angulo},
title={COLLABORATIVE CONTROL IN A HUMANOID DYNAMIC TASK},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={174-180},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001629001740180},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - COLLABORATIVE CONTROL IN A HUMANOID DYNAMIC TASK
SN - 978-972-8865-83-2
AU - Pardo D.
AU - Angulo C.
PY - 2007
SP - 174
EP - 180
DO - 10.5220/0001629001740180