Predictive control method for a redundant robot using a non-parametric predictor

摘要

A bio-inspired robot with many degrees of freedom (DOFs) might be beneficial in coping with various situations that occur in a real environment, because its physical structure resembles that of an animal it is modeled after. However, because of its complicated structure, it is difficult to explicitly model the dynamics and to design the control rules. In this study, we propose a predictive control method based on a non-parametric method. Instead of conducting parameter estimation for a certain parametric model, system identification is performed by collecting data. We apply our method to the control of a robot with a complicated structure. Experimental results show that the control of a robot with many DOFs can be achieved by the proposed method.