Search


Show only items where

Towards Minimum-Information Adaptive Controllers for Robot Manipulators

TitleTowards Minimum-Information Adaptive Controllers for Robot Manipulators
Publication TypeConference Proceedings
Year of PublicationIn Press
AuthorsMarcucci, T, C. Della Santina,, Gabiccini, M, Bicchi, A
Conference NameAmerican Control Conference, AMC2017
Conference LocationMay 24–26 2017, Seattle USA
KeywordsRobotics
Abstract

The aim of this paper is to move a step in the direction of determining the minimum amount of information needed to control a robot manipulator within the framework of adaptive control. Recent innovations in the state of the art show how global asymptotic trajectory tracking can be achieved despite the presence of uncertainties in the kinematic and dynamic models of the robot. However, a clear distinction between
which parameters can be included among the uncertainties, and which parameters can not, has not been drawn yet. Since most of the adaptive control algorithms are built on linearly parameterized models, we propose to reformulate the problem as finding a procedure to determine whether and how a given dynamical system can be linearly parameterized with respect to a specific set of parameters.
Within this framework, we show how the trajectory tracking problem of a manipulator can be accomplished with the only knowledge of the number of joints of the manipulator. As an illustrative example, we present the end-effector trajectory tracking control of a robot initialized with the kinematic model of a different robot.

Refereed DesignationRefereed

On the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis

TitleOn the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis
Publication TypeConference Proceedings
Year of Publication2016
AuthorsNardelli, M, Greco, A, Bianchi, M, Scilingo, EP, Valenza, G
Conference NameIEEE Engineering in Medicine and Biology Society (EMBC 2016)
Conference LocationOrlando, USA, August 16-20, 2016