DocumentCode
3030698
Title
Control method for a robot based on the adaptive attractor selection model
Author
Fukuyori, Ippei ; Nakamura, Yutaka ; Matsumoto, Yoshio ; Ishiguro, Hiroshi
Author_Institution
Dept. of adaptive machine Syst., Osaka Univ., Suita
fYear
2009
fDate
10-12 Feb. 2009
Firstpage
618
Lastpage
623
Abstract
Recent biological studies reveals that animals utilize (or exploit) biological fluctuation to achieve flexibility and robustness against environmental disturbances. In this paper, we propose a simple but flexible control mechanism inspired by biological adaptation mechanism. Experimental results show that our proposed method can be applied to the control of a robot without prior knowledge about the robot.
Keywords
adaptive control; robots; adaptive attractor selection; biological adaptation mechanism; biological fluctuation; flexible control mechanism; robot control; Adaptive control; Animals; Biological control systems; Biological system modeling; Control systems; Fluctuations; Programmable control; Robot control; Robust control; Working environment noise; Biological fluctuation; bio-inspired robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Robots and Agents, 2009. ICARA 2009. 4th International Conference on
Conference_Location
Wellington
Print_ISBN
978-1-4244-2712-3
Electronic_ISBN
978-1-4244-2713-0
Type
conf
DOI
10.1109/ICARA.2000.4804004
Filename
4804004
Link To Document