Learning for Adaptive and Reactive Robot Control: A Dynamical Systems Approach - Couverture rigide

Billard, Aude; Mirrazavi, Sina; Figueroa, Nadia

 
9780262046169: Learning for Adaptive and Reactive Robot Control: A Dynamical Systems Approach
Couverture rigide
ISBN 10 : 0262046164 ISBN 13 : 9780262046169
Editeur : The MIT Press, 2022

Synopsis

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises.

This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. 
 

Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics,  with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . 
Features for teaching in each chapter: 
 

  • applications, which range from arm manipulators to whole-body control of humanoid robots;
  • pencil-and-paper and programming exercises;
  • lecture videos, slides, and MATLAB code examples available on the author’s website . 
  • an eTextbook platform website offering protected material[EPS2]  for instructors including solutions.
    •  
     

    Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

    À propos de l?auteur

    Aude Billard is Professor, School of Engineering, Ecole Polytechnique Federale de Lausanne (EPFL) and Director of the Learning Algorithms and Systems Laboratory (LASA). Sina Mirrazavi is a Senior Researcher at Sony. Nadia Figueroa is the Shalini and Rajeev Misra Presidential Assistant Professor in the Mechanical Engineering and Applied Mechanics (MEAM) Department at the University of Pennsylvania.

    Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

    Éditeur
    The MIT Press
    Date d'édition
    2022
    Langue
    anglais
    ISBN 10 
    0262046164
    ISBN 13 
    9780262046169
    Reliure
    Relié
    Nombre de pages
    424
    Coordonnées du fabricant
    non disponible
    Personne responsable
    non disponible