Adaptive control of modular robots | Sciact

Adaptive control of modular robots Full article

Journal

Advances in Intelligent Systems and Computing
ISSN: 2194-5357 , E-ISSN: 2194-5365

Output data

Year: 2018, Volume: 636, Pages: 205-212 Pages count : 8 DOI: 10.1007/978-3-319-63940-6_29

Tags

Control system; Knowledge elicitation; Patterns detection

Authors

Demin A.V. ¹ , Vityaev E.E. ²

Affiliations

1	Institute of Informatics Systems SB RAS, Lavrentieva 6, Novosibirsk, Russian Federation
2	Sobolev Institute of Mathematics, pr. Koptyuga 4, Novosibirsk, Russian Federation

This paper proposes a learning control system of modular systems with a large number of degrees of freedom based on joint learning of modules, starting with finding the common control rules for all modules and finishing with their subsequent specification in accordance with the ideas of the semantic probabilistic inference. With an interactive 3D simulator, a number of successful experiments were carried out to train three robot models: snake-like robot, multiped robot and trunk-like robot. Pilot studies have shown that the approach proposed is quite effective and can be used to control the complex modular systems with many degrees of freedom. © Springer International Publishing AG 2018.

Demin A.V. , Vityaev E.E.
Adaptive control of modular robots
Advances in Intelligent Systems and Computing. 2018. V.636. P.205-212. DOI: 10.1007/978-3-319-63940-6_29 Scopus OpenAlex

Scopus:	2-s2.0-85076351532
OpenAlex:	W2737099507

DB	Citing
Scopus	4
OpenAlex	4