AUTHOR=Navarro-Alarcon David , Qi Jiaming , Zhu Jihong , Cherubini Andrea TITLE=A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control JOURNAL=Frontiers in Neurorobotics VOLUME=14 YEAR=2020 URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2020.00059 DOI=10.3389/fnbot.2020.00059 ISSN=1662-5218 ABSTRACT=

In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive units that specialize in a local sensorimotor map. Different from traditional estimation algorithms, the proposed method requires little data to train and constrain it (the number of required data points can be analytically determined) and has rigorous stability properties (the conditions to satisfy Lyapunov stability are derived). Numerical simulations and experimental results are presented to validate the proposed method.