Dynamics of a learning controller for surface tracking robots on unknown surfaces

Bay J.S.; Hemami H.

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Dynamics of a learning controller for surface tracking robots on unknown surfaces

机译：用于未知表面上的表面跟踪机器人的学习控制器的动力学

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An extended Kalman filter is applied to simulated sensor information as an approach to the surface estimation problem. It is assumed that a robotic probe equipped with a tactile sensor is given the task of working with a completely unknown surface. Kinematics and control based on tactile measurements are briefly discussed. An estimator which provides surface information as obtained by an inherently noisy force sensor is designed. From these estimates, a controller is given the capability of learning the constraint surface, thereby rejecting the noisy sensor data. After a short time, surface tracking is similar to the case of constrained motion on known surfaces.

机译：将扩展的卡尔曼滤波器应用于模拟传感器信息，作为解决表面估计问题的一种方法。假定配备了触觉传感器的机器人探针的任务是处理完全未知的表面。简要讨论了基于触觉测量的运动学和控制。设计了一种估计器，该估计器可提供由固有噪声力传感器获得的表面信息。根据这些估计，控制器可以学习约束表面，从而拒绝嘈杂的传感器数据。短时间后，表面跟踪类似于已知表面上受约束的运动的情况。

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《IEEE Transactions on Automatic Control》 |1990年第9期|P.1051-1054|共4页
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Bay J.S.; Hemami H.;
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4. Dynamics of a learning controller for surface tracking robots on unknown surfaces [C] . Bay, J.S., Hemami, Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on . 1990

机译：用于未知表面上的表面跟踪机器人的学习控制器的动力学
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Dynamics of a learning controller for surface tracking robots on unknown surfaces

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