Task Level Optimal Control of a Simulated Ball Batting Robot

Dennis Schüthe, Udo Frese

2014

Abstract

We developed a task-oriented controller based on optimal finite horizon control. We demonstrate this on a flexible ball playing robot with redundant degrees of freedom. The task is to reach a specified Cartesian position and velocity of the bat at a specified time, in order to rebound the ball. The controller must maintain high accuracy and react to disturbances and changing conditions. Therefore, we formulate this as an optimal control problem giving the controller the possibility to autonomously distribute motor torques amongst the redundant degrees of freedom. In simulations, we show the accuracy of the controller, the intelligent distribution of motor torques, as well as robustness against disturbances and adaptation to changing conditions.

Paper Citation

in Harvard Style

Schüthe D. and Frese U. (2014). Task Level Optimal Control of a Simulated Ball Batting Robot . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 45-56. DOI: 10.5220/0005026100450056

in Bibtex Style

@conference{icinco14,
author={Dennis Schüthe and Udo Frese},
title={Task Level Optimal Control of a Simulated Ball Batting Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={45-56},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005026100450056},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Task Level Optimal Control of a Simulated Ball Batting Robot
SN - 978-989-758-040-6
AU - Schüthe D.
AU - Frese U.
PY - 2014
SP - 45
EP - 56
DO - 10.5220/0005026100450056