A Parameterless Biologically Inspired Control Algorithm Robust to Nonlinearities, Dead-Times and Low-Pass Filtering Effects

A biologically inspired control algorithm for robot control was introduced in a previous work. The algorithm is robust to noisy sensor information and hardware failures. In this paper a new version of the algorithm is presented. The new version is able to cope with highly non-linear systems and presents an improved robustness to low-pass filter effects and dead-times. Automatic tuning of the parameters is also introduced, providing a completely parameterless algorithm.

• Type: Journal
• Year: 2010
• Where: SIMPAR
• Authors: Fabio Dalla Libera, Shuhei Ikemoto, Takashi Minato, Hiroshi Ishiguro, Emanuele Menegatti, Enrico Pagello
• Keywords: Algorithm, Control Algorithm, Noisy Sensor Information, Robotics, SIMPAR 2010