Title: Design Guideline of Iterative Learning Control for Whole-Arm Object Manipulation
Abstract: This study discusses the design guideline of the iterative learning control which the authors have proposed for the whole-arm object manipulation by the robotic hand system composed of a velocity-controlled finger and a torque-controlled finger. To make the iterative leaning scheme more practical, we investigate how the learning gain value affects the performance of the learning process experimentally and show the design guideline of the iterative learning control.
Publication Year: 2016
Publication Date: 2016-01-01
Language: en
Type: article
Indexed In: ['crossref']
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