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Paper Abstract and Keywords
Presentation 2010-12-19 14:55
Motor Command Estimation based on an Inverse Dynamics Model and its Application to Motion Adaptation
Masashi Otani, Kouichi Taji, Yoji Uno (Nagoya Univ.) MBE2010-75 NC2010-86
Abstract (in Japanese) (See Japanese page) 
(in English) It is thought that the human brain has a mechanism called an internal model that works as a feed-forward controller. It is however hardly thought that a peculiar internal model is in charge of an individual motion. The motor command for the desired motion is generated by correcting an output calculated by the lead internal models.Based on this idea, the dynamics of the controlled object is learned, and some inverse model (internal model) is acquired in neural networks. Then, the motion adaptation for the change of movement environment is performed by estimating the error of the motor command and by correcting it using the inverse model. The effectiveness of this learning and adaptation was confirmed by the computational simulation of a 2-link arm and the real machine experiment of a 1-link arm.
Keyword (in Japanese) (See Japanese page) 
(in English) Inverse Dynamics Model / Iterative Control / Motor Adaptation / Neural Network / / / /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 355, NC2010-86, pp. 115-120, Dec. 2010.
Paper # NC2010-86 
Date of Issue 2010-12-12 (MBE, NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MBE2010-75 NC2010-86

Conference Information
Committee NC MBE  
Conference Date 2010-12-19 - 2010-12-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Nagoya Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2010-12-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Motor Command Estimation based on an Inverse Dynamics Model and its Application to Motion Adaptation 
Sub Title (in English)  
Keyword(1) Inverse Dynamics Model  
Keyword(2) Iterative Control  
Keyword(3) Motor Adaptation  
Keyword(4) Neural Network  
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1st Author's Name Masashi Otani  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Kouichi Taji  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2010-12-19 14:55:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # MBE2010-75, NC2010-86 
Volume (vol) vol.110 
Number (no) no.354(MBE), no.355(NC) 
Page pp.115-120 
#Pages 6 
Date of Issue 2010-12-12 (MBE, NC) 

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