Operational Space Control: A Theoretical and Empirical Comparison (2009)
Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal, Rick Cory, ...
Citations (this article cites 33 articles hosted on the
DOI 10.1007/s10514-007-9051-x A unifying framework for robot control with redundant DOFs (2009)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal, J. Peters, ...
2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-offreedom (DOFs) using a generalization of Gauss ’ principle of least constraint. This...
Abstract Trajectory Formation for Imitation with Nonlinear Dynamical Systems (2008)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
This article explores a new approach to learning by imitation and trajectory formation by representing movements as mixtures of nonlinear differential equations with well-defined attractor dynamics....
Jun Nakanishi, Jay A. Farrell, Stefan Schaal
This paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and...
Jun Nakanishi, Michael Mistry, Jan Peters, Stefan Schaal
Abstract — Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant...
Task Space Control with Prioritization for Balance and Locomotion (2008)
Michael Mistry, Jun Nakanishi, Stefan Schaal
Abstract — This paper addresses locomotion with active balancing, via task space control with prioritization. The center of gravity (COG) and foot of the swing leg are treated as task space control...
ACQUISITION OF A BIPED WALKING PATTERN USING A POINCARE MAP (2008)
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin
We proposeamodel-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map...
A Unifying Framework for Robot Control with Redundant DOFs (2008)
Peters, Jan, Mistry, Michael, Udwadia, Firdaus, Nakanishi, Jun, Schaal, Stefan
Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint....
Nakanishi, Jun, Mistry, Michael, Peters, Jan, Schaal, Stefan
Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant control is that a...
A bayesian approach to nonlinear parameter identification for rigid body dynamics (2006)
Jo-anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, Jun Nakanishi
Abstract — For robots of increasing complexity such as humanoid robots, conventional identification of rigid body dynamics models based on CAD data and actuator models becomes difficult and...
Poincare-map-based reinforcement learning for biped walking (2005)
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Poincaré Map
Abstract — We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Viapoints are detected from...
Poincare-map-based reinforcement learning for biped walking (2005)
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Poincaré Map
Abstract — We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Viapoints are detected from...
A unifying methodology for the control of robotic systems (2005)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal
Abstract — Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of Gauss’ principle of least constraint. This method allows us to reformulate...
Comparative experiments on task space control with redundancy resolution (2005)
Jun Nakanishi, Michael Mistry, Stefan Schaal
Abstract — Understanding the principles of motor coordination with redundant degrees of freedom still remains a challenging problem, particularly for new research in highly redundant robots like...
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato
Abstract — We propose a framework for learning biped locomotion using dynamical movement primitives based on nonlinear oscillators. In our previous work, we suggested dynamical movement primitives...
Learning from demonstration and adaptation of biped locomotion (2004)
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato
Abstract — In this paper, we report on our research for learning biped locomotion from human demonstration. Our ultimate goal is to establish a design principle of a controller in order to achieve...
Learning composite adaptive control for a class of nonlinear systems (2004)
Jun Nakanishi, Jay A. Farrell, Stefan Schaal
Abstract — In our recent work, an adaptive composite control technique was suggested for nonlinear adaptive control with statistical learning methods. While this original work was restricted to a...
An empirical exploration of a neural oscillator for biped locomotion control (2004)
Gen Endo, Jun Morimoto, Jun Nakanishi, Gordon Cheng
Abstract — Humanoid research has made remarkable progress during the past 10 years. However, currently most humanoids use the target ZMP (Zero Moment Point) control algorithm for bipedal...
Learning movement primitives (2004)
Stefan Schaal, Jan Peters, Jun Nakanishi, Auke Ijspeert
Abstract. This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement...
Learning attractor landscapes for learning motor primitives (2003)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
Many control problems take place in continuous state-action spaces, e.g., as in manipulator robotics, where the control objective is often defined as finding a desired trajectory that reaches a...
Movement imitation with nonlinear dynamical systems in humanoid robots (2002)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
This article presents a new approach to movement planning, on-line trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear differential equations...
Learning Rhythmic Movements by Demonstration Using Nonlinear Oscillators (2002)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
This paper presents a new approach to the generation of rhythmic movement patterns with nonlinear dynamical systems. Starting from a canonical limit cycle oscillator with well-defined stability...
Learning Attractor Landscapes for Learning Motor Primitives (2002)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
Many control problems take place in continuous state-action spaces, e.g., as in manipulator robotics, where the control objective is often defined as finding a desired trajectory that reaches a...
Learning rhythmic movements by demonstration using nonlinear oscillators (2002)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
This paper presents a new approach to the generation of rhythmic movement patterns with nonlinear dynamical systems. Starting from a canonical limit cycle oscillator with well-defined stability...
Movement imitation with nonlinear dynamical systems in humanoid robots (2002)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
This article presents a new approach to movement planning, on-line trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear differential equations...
Real-time statistical learning for robotics and human augmentation (2001)
Stefan Schaal, Sethu Vijayakumar, Auke Ijspeert, Jun Nakanishi
Abstract: Real-time modeling of complex nonlinear dynamic processes has become increasingly important in various areas of robotics and human augmentation. To address such problems, we have been...
Trajectory Formation for Imitation with Nonlinear Dynamical Systems (2001)
Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal
This article e xplore s ane approach to le rning by imitation and traje5 ory formation byre reC-- ting move - me ts as mixture s of nonline r di#e e tialeC-- tions with we ll-de fine d attractor...
Real-Time Statistical Learning For Robotics and (2001)
Human Augmentation Stefan, Stefan Schaal, Sethu Vijayakumar, Auke Ijspeert, Jun Nakanishi
Real-time modeling of complex nonlinear dynamic processes has become increasingly important in various areas of robotics and human augmentation. To address such problems, we have been developing...
Nonlinear dynamical systems for imitation with humanoid robots (2001)
Auke Jan Ijspeert, Jun Nakanishi, Tomohiro Shibata, Stefan Schaal
This article explores a new approach to learning by imitation and trajectory formation by representing movements as control policies (CPs) based on a set of nonlinear differential equations with...
Real-time statistical learning for robotics and human augmentation (2001)
Stefan Schaal, Sethu Vijayakumar, Auke Ijspeert, Jun Nakanishi
Abstract: Real-time modeling of complex nonlinear dynamic processes has become increasingly important in various areas of robotics and human augmentation. To address such problems, we have been...
A Brachiating Robot Controller (2000)
Nakanishi, Jun, Fukuda, Toshio, Koditschek, Daniel E
We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a "target...
A brachiating robot controller (2000)
Jun Nakanishi, Student Member, Toshio Fukuda, Daniel E. Koditschek
Abstract—We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape’s brachiation, we encode this task as the output...
A Hybrid Swing up Controller for a Two-link Brachiating Robot (1999)
Nakanishi, Jun, Fukuda, Toshio, Koditschek, Daniel E
In this paper, we report on a "hybrid" scheme for regulating the swing up behavior of a two degree of freedom brachiating robot. In this controller, a previous "target dynamics" controller and a...
Brachiation on a Ladder with Irregular Intervals (1999)
Nakanishi, Jun, Fukuda, Toshio, Koditschek, Daniel E
We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up...
Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot (1998)
Nakanishi, Jun, Fukuda, Toshio, Koditschek, Daniel E
We report on our recent empirical success in the study of a two-link brachiating robot. The "target dynamics" controller developed in our previous work (1997) is implemented on a physical system in...
Preliminary studies of a second generation brachiation robot controller (1997)
Nakanishi, Jun, Fukuda, Toshio, Koditschek, Daniel E
We report on our preliminary studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a...
Preliminary Analytical Approach to a Brachiation Robot Controller (1996)
Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
We report on our preliminary studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a...