On model adaptation for sensorimotor control of robots

David Navarro-Alarcon, Andrea Cherubini, Xiang Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 38th Chinese Control Conference, CCC 2019
EditorsMinyue Fu, Jian Sun
PublisherIEEE Computer Society
Pages2548-2552
Number of pages5
ISBN (Electronic)9789881563972
DOIs
Publication statusPublished - Jul 2019
Event38th Chinese Control Conference, CCC 2019 - Guangzhou, China
Duration: 27 Jul 201930 Jul 2019

Publication series

NameChinese Control Conference, CCC
Volume2019-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference38th Chinese Control Conference, CCC 2019
Country/TerritoryChina
CityGuangzhou
Period27/07/1930/07/19

Keywords

  • Adaptive systems
  • Robotics
  • Sensor-based control
  • Sensorimotor models

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modelling and Simulation

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