scholarly journals A Berry Picking Robot With A Hybrid Soft-Rigid Arm: Design and Task Space Control

2020 ◽  
Author(s):  
Naveen Kumar Uppalapati ◽  
Benjamin Walt ◽  
Aaron Havens ◽  
Armeen Mahdian ◽  
Girish Chowdhary ◽  
...  
Keyword(s):  
Task Space ◽  
Task Space Control ◽  
And Task

scholarly journals No-go trials in task switching: effects on the task-set and task-space level

2021 ◽  
Author(s):  
Juliane Scheil ◽  
Thomas Kleinsorge
Keyword(s):  
Task Switching ◽  
The Other ◽  
Specific Task ◽  
Task Space ◽  
Response Level ◽  
Task Set ◽  
Common Marker ◽  
Task Sets ◽  
And Task

AbstractA common marker for inhibition processes in task switching are n − 2 repetition costs. The present study aimed at elucidating effects of no-go trials on n − 2 repetition costs. In contrast to the previous studies, no-go trials were associated with only one of the three tasks in the present two experiments. High n − 2 repetition costs occurred if the no-go task had to be executed in trial n − 2, irrespective of whether a response had to be withheld or not. In contrast, no n − 2 repetition costs were visible if the other two tasks were relevant in n − 2. Whereas this n − 2 effect was unaffected by whether participants could reliably exclude a no-go trial or not, effects of no-gos in trial n were determined by this knowledge. The results differ from effects of no-go trials that are not bound to a specific task. It is assumed that the present no-go variation exerted its effect not on the response level, but on the level of task sets, resulting in enhanced salience of the no-go task that leads to higher activation and, as a consequence, to stronger inhibition. The dissociation of the effects on no-gos in trials n − 2 and n as a function of foreknowledge suggests that the balance between activation and inhibition is shifted not only for single trials and tasks, but for the whole task space.

scholarly journals Comparative experiments on task space control with redundancy resolution

2005 ◽  
Author(s):  
J. Nakanishi ◽  
R. Cory ◽  
M. Mistry ◽  
J. Peters ◽  
S. Schaal
Keyword(s):  
Redundancy Resolution ◽  
Task Space ◽  
Task Space Control

Recursive field estimation and tracking for autonomous manipulation

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 743-753 ◽  
Author(s):  
Soo Jeon
Keyword(s):  
Radial Basis Function Network ◽  
Least Square Method ◽  
Least Square ◽  
Source Tracking ◽  
Control Law ◽  
Task Space ◽  
Recursive Least Square ◽  
Wide Range ◽  
Field Estimation ◽  
Task Space Control

SUMMARYAutonomous operation of mechanical systems often requires the ability to detect and locate a particular phenomenon occurring in the surrounding environment. Being implemented to articulated manipulation, such a capability may realize a wide range of applications in autonomous maintenance and repair. This paper presents the sensor-driven task space control of an end-effector that combines the field estimation and the target tracking in an unknown spatial field of interest. The radial basis function network is adopted to model spatial distribution of an environmental phenomenon as a scalar field. Their weight parameters are estimated by a recursive least square method using collective measurements from the on-board sensors mounted to the manipulator. Then the asymptotic source tracking has been achieved by the control law based on the gradient of the estimated field. A new singularity tolerant scheme has been suggested to command the task space control law despite singular configurations. Simulation results using the three-link planar robot and the 6-revolute elbow manipulator are presented to validate the main ideas.

Task Space Control of Articulated Robot Near Kinematic Singularity: Forward Dynamics Approach

2020 ◽  
Vol 5 (2) ◽  
pp. 752-759
Author(s):  
Donghyeon Lee ◽  
Woongyong Lee ◽  
Jonghoon Park ◽  
Wan Kyun Chung
Keyword(s):  
Forward Dynamics ◽  
Task Space ◽  
Kinematic Singularity ◽  
Task Space Control ◽  
Articulated Robot

scholarly journals Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors

10.5772/51742 ◽  
2012 ◽  
Vol 9 (4) ◽  
pp. 156 ◽  
Author(s):  
Ahmad Zaki bin Hj Shukor ◽  
Yasutaka Fujimoto
Keyword(s):  
Task Space ◽  
Task Space Control
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