How Does a Robot Find Redundancy by Itself?
نویسندگان
چکیده
A hybrid architecture consisting of several adaptive controllers is effective to control a multi-degree-of-freedom robot acting in unknown/dynamic environment. For such controllers, it is important to find out whether they are redundant with respect to the subtasks given for the sub-controllers. In this paper, we propose an adaptive sub-controller which have an ability to finding out its redundancy automatically. We show a preliminary simulation results to demonstrate the effectiveness of the proposed method.
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