By Topic

IEEE Control Systems

Issue 1 • Feb. 1994

Filter Results

Displaying Results 1 - 8 of 8
  • Swing and locomotion control for a two-link brachiation robot

    Publication Year: 1994, Page(s):5 - 12
    Cited by:  Papers (81)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    A mechanism and a control method is described for a two-link brachiation robot, a mobile robot that moves using its arms much like a gibbon moving from branch to branch. In our approach, the robot generates motions using a heuristic method, and achieves locomotion with trajectory and arm-direction feedback control. The robot can also control its swinging amplitude by a method based on parametric e... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Acquiring robot skills via reinforcement learning

    Publication Year: 1994, Page(s):13 - 24
    Cited by:  Papers (71)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1224 KB)

    Skill acquisition is a difficult , yet important problem in robot performance. The authors focus on two skills, namely robotic assembly and balancing and on two classic tasks to develop these skills via learning: the peg-in hole insertion task, and the ball balancing task. A stochastic real-valued (SRV) reinforcement learning algorithm is described and used for learning control and the authors sho... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Controlling contact transition

    Publication Year: 1994, Page(s):25 - 30
    Cited by:  Papers (38)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    Successful control of contact transitions is an important capability of dextrous robotic manipulators. We examine several methods for controlling the transition from free motion to constrained motion, with an emphasis on minimizing end-effector load oscillations during the transition. A new approach, based on input command shaping, is discussed and compared with several methods developed in prior ... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Integral force control with robustness enhancement

    Publication Year: 1994, Page(s):31 - 40
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (816 KB)

    For robotic tasks involving contact between the robot end effector and the environment, force feedback is frequently used to maintain the required force of interaction. Among the many force control strategies proposed in the literature, integral force feedback has been found to be the most desirable algorithm due to its robustness with respect to the measurement time delay and its removal of stead... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Real-time neural network control of a biped walking robot

    Publication Year: 1994, Page(s):41 - 48
    Cited by:  Papers (76)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (962 KB)

    Cerebellar model arithmetic computer (CMAC) neural networks can be applied to the problem of biped walking with dynamic balance. The project goal here is to develop biped control strategies based on a hierarchy of simple gait oscillators, PID controllers, and neural network learning, that do not require detailed kinematic or dynamic models. While results of simulation studies using two-dimensional... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Mousebuster: a robot for real-time catching

    Publication Year: 1994, Page(s):49 - 56
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (865 KB)

    A control methodology for catching a fast moving object with a robot manipulator, where visual information is employed to track the trajectory of the target, is described here. Sensing, planning, and control are performed in real time to cope with possible unpredictable trajectory changes of the moving target, and prediction techniques are adopted to compensate the time delays introduced by visual... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robot juggling: implementation of memory-based learning

    Publication Year: 1994, Page(s):57 - 71
    Cited by:  Papers (89)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1461 KB)

    Issues involved in implementing robot learning for a challenging dynamic task are explored in this article, using a case study from robot juggling. We use a memory-based local modeling approach (locally weighted regression) to represent a learned model of the task to be performed. Statistical tests are given to examine the uncertainty of a model, to optimize its prediction quality, and to deal wit... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Implementating a hybrid learning force control scheme

    Publication Year: 1994, Page(s):72 - 79
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (778 KB)

    The theory and implementation of a repetitive learning control algorithm for hybrid position and force control of robotic manipulators is presented here. The complete control system involves learning position control for translational motion tangent to an unknown surface, learning force control normal to the surface, and learning orientation control using torque feedback to maintain tangential mot... View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.

Aims & Scope

As the official means of communication for the IEEE Control Systems Society, the IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Jonathan P. How
jhow@mit.edu