Transfer from simulation to real world through learning deep inverse dynamics model
P Christiano, Z Shah, I Mordatch, J Schneider… - ar** control policies in simulation is often more practical and safer than directly
running experiments in the real world. This applies to policies obtained from planning and …
running experiments in the real world. This applies to policies obtained from planning and …
Ensemble-cio: Full-body dynamic motion planning that transfers to physical humanoids
While a lot of progress has recently been made in dynamic motion planning for humanoid
robots, much of this work has remained limited to simulation. Here we show that executing …
robots, much of this work has remained limited to simulation. Here we show that executing …
[BOOK][B] On modeling and control of flexible manipulators
S Moberg - 2007 - search.proquest.com
Industrial robot manipulators are general-purpose machines used for industrial automation
in order to increase productivity, flexibility, and quality. Other reasons for using industrial …
in order to increase productivity, flexibility, and quality. Other reasons for using industrial …
Backlash estimation with application to automotive powertrains
In automotive powertrains, backlash imposes well-known limitations on the quality of control
and, hence, on vehicle driveability. High-performance controllers for backlash compensation …
and, hence, on vehicle driveability. High-performance controllers for backlash compensation …
Combining model-based policy search with online model learning for control of physical humanoids
We present an automatic method for interactive control of physical humanoid robots based
on high-level tasks that does not require manual specification of motion trajectories or …
on high-level tasks that does not require manual specification of motion trajectories or …
Integrated approach to robotic machining with macro/micro-actuation
A novel integrated approach to high-accuracy machining with industrial robots is presented
in this paper. By combining a conventional industrial robot with an external compensation …
in this paper. By combining a conventional industrial robot with an external compensation …
Robot joint modeling and parameter identification using the clam** method
C Lehmann, B Olofsson, K Nilsson, M Halbauer… - IFAC Proceedings …, 2013 - Elsevier
The usage of industrial robots for milling tasks is limited by their lack of absolute accuracy in
presence of process forces. While there are techniques and products available for …
presence of process forces. While there are techniques and products available for …
Robust backlash estimation for industrial drive-train systems—Theory and validation
Backlash compensation is used in modern machine-tool controls to ensure high-accuracy
positioning. When wear of a machine causes deadzone width to increase, high-accuracy …
positioning. When wear of a machine causes deadzone width to increase, high-accuracy …
Multivariable frequency-domain identification of industrial robots
E Wernholt - 2007 - diva-portal.org
Industrial robots are today essential components in the manufacturing industry where they
are used to save costs, increase productivity and quality, and eliminate dangerous and …
are used to save costs, increase productivity and quality, and eliminate dangerous and …
[BOOK][B] On multivariable and nonlinear identification of industrial robots
E Wernholt - 2004 - rt.isy.liu.se
The main objective of the thesis is the identification of flexibilities and nonlinearities in
mathematical models of industrial robots. In particular, a nonparametric frequency-domain …
mathematical models of industrial robots. In particular, a nonparametric frequency-domain …