Peter Stone's Selected Publications

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A Model-Based Approach to Robot Joint Control

A Model-Based Approach to Robot Joint Control.
Daniel Stronger and Peter Stone.
In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, RoboCup-2004: Robot Soccer World Cup VIII, Lecture Notes in Artificial Intelligence, pp. 297–309, Springer Verlag, Berlin, 2005.
Official version from Publisher's Webpage© Springer-Verlag

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Abstract

Despite efforts to design precise motor controllers, robot joints do not always move exactly as desired. This paper introduces a general model-based method for improving the accuracy of joint control. First, a model that predicts the effects of joint requests is built based on empirical data. Then this model is approximately inverted to determine the control requests that will most closely lead to the desired movements. We implement and validate this approach on a popular, commercially available robot, the Sony Aibo ERS-210A.

BibTeX Entry

@incollection(LNAI2004-joints,
        author="Daniel Stronger and Peter Stone",
        title="A Model-Based Approach to Robot Joint Control",
        booktitle= "{R}obo{C}up-2004: Robot Soccer World Cup {VIII}",
        Editor="Daniele Nardi and Martin Riedmiller and Claude Sammut",
        Publisher="Springer Verlag",address="Berlin",year="2005",
        series="Lecture Notes in Artificial Intelligence",      
	volume="3276",
        pages="297--309",
        abstract={
                 Despite efforts to design precise motor controllers,
                 robot joints do not always move exactly as desired.
                 This paper introduces a general model-based method
                 for improving the accuracy of joint control.  First,
                 a model that predicts the effects of joint requests
                 is built based on empirical data.  Then this model is
                 approximately inverted to determine the control
                 requests that will most closely lead to the desired
                 movements.  We implement and validate this approach
                 on a popular, commercially available robot, the Sony
                 Aibo {ERS-210A}.
        },
  wwwnote = {Official version from <a href="http://www.springerlink.com/index/5HEKU6UDMFATC0UE">Publisher's Webpage</a>&copy Springer-Verlag},
)

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