Adaptive optimal control for redundantly actuated arms

D. Mitrovic, S. Klanke, S. Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Optimal feedback control has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. Recent developments, such as the iterative Linear Quadratic Gaussian (iLQG) algorithm, have focused on the case of non-linear, but still analytically available, dynamics. For realistic control systems, however, the dynamics may often be unknown, difficult to estimate, or subject to frequent systematic changes. In this paper, we combine the iLQG framework with learning the forward dynamics for a simulated arm with two limbs and six antagonistic muscles, and we demonstrate how our approach can compensate for complex dynamic perturbations in an online fashion.
Original languageEnglish
Title of host publicationFrom Animals to Animats 10
Subtitle of host publication10th International Conference on Simulation of Adaptive Behavior, SAB 2008, Osaka, Japan, July 7-12, 2008. Proceedings
PublisherSpringer-Verlag GmbH
Number of pages10
ISBN (Print)978-3-540-69133-4
Publication statusPublished - 2008

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Berlin / Heidelberg
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


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