Bruno D. Damas

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— In this paper a novel approach to kinematics learning and task space control, under switching contexts, is presented. Such non-stationary contexts may appear in many robotic tasks: in particular, the changing of the context due to the use of tools with different lengths and shapes is herein studied. We model the robot forward kinematics as a multi-valued(More)
This paper introduces a method to model multi-robot teams using stochastic discrete event system techniques. The environment state space and robot behaviours are discretised and modelled by modular finite state automata (FSA). Then, all the FSA are composed to obtain the complete model of the team situated in its environment. Controllable and uncontrollable(More)
— This paper presents a comparison of open-loop and closed-loop control strategies for tracking a task space trajectory, using redundant robots. We do not assume any knowledge of the analytical forward and inverse kinematics, relying instead on learning these models online, while executing a desired task. Specifically, we employ a recent learning algorithm(More)
We present a supervised learning algorithm for estimation of generic input-output relations in a real-time, online fashion. The proposed method is based on a generalized expectation-maximization approach to fit an infinite mixture of linear experts (IMLE) to an online stream of data samples. This probabilistic model, while not fully Bayesian, can(More)