What is it about?
This paper combines the simple technique for adaptive robot control proposed by Bar-Kana and Guez and the exploratory learning schedule proposed by Selinsky and Guez into a unified two degrees of freedom (DOF) robot controller, thereby improving the performance of both approaches. We first briefly summarize both approaches. We then propose our new 2 DOF controller and explain our motivation for its design. Next we present the main theorem and conclude with a two-joint rigid manipulator example.
The following have contributed to this page: Dr Itzhak Barkana