A Model-Based Approach to Robot Joint Control

  • Daniel Stronger
  • Peter Stone
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3276)


Despite efforts to design precise motor controllers, robot joints do not always move exactly as desired. This paper introduces a general model-based method for improving the accuracy of joint control. First, a model that predicts the effects of joint requests is built based on empirical data. Then this model is approximately inverted to determine the control requests that will most closely lead to the desired movements. We implement and validate this approach on a popular, commercially available robot, the Sony Aibo ERS-210A.


Sensor-Motor Control Mobile Robots and Humanoids 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Daniel Stronger
    • 1
  • Peter Stone
    • 1
  1. 1.Department of Computer SciencesThe University of Texas at Austin 

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