Velocity limiting in operational space control
Recently, I was reading through an older paper on effective operational space control, talking specifically point to point control in operational space. The paper mentioned that even if you have a...
View ArticleFull body obstacle collision avoidance
Previously I’ve discussed how to avoid obstacles using DMPs in the end-effector trajectory. This is good when you’re controlling a single disconnected point-mass, like a mobile robot navigating around...
View ArticleQuick calculations with SymPy and Cython
Alrighty! Last time I posted about SymPy we weren’t worrying too much about computation speed. It was worth the time saved by automating the Jacobian, inertia matrix, etc calculations and it didn’t...
View ArticleImproving neural models by compensating for discrete rather than continuous...
This is going to be a pretty niche post, but there is some great work by Aaron Voelker from my old lab that has inspired me to do a post. The work is from an upcoming paper, which is all up on Aaron’s...
View ArticleABR Control repo public release!
https://github.com/abr/abr_control Last August I started working on a new version of my old control repo with a resolve to make something less hacky, as part of the work for Applied Brain Research,...
View ArticleABR Jaco repo public release!
https://github.com/abr/abr_jaco2 We’ve been working with Kinova’s Jaco arm with joint torque sensors for the last year or so as part of our research at Applied Brain Research, and we put together a fun...
View ArticleMatplotlib legends for mean and confidence interval plots
When plotting means and confidence intervals, sometimes the mean lines are hard to see and it’s nice to have included in your legend the color of the confidence interval shading. It turns out this is a...
View ArticleBuilding a spiking neural model of adaptive arm control
About a year ago I published the work from my thesis in a paper called ‘A spiking neural model of adaptive arm control’. In this paper I presented the Recurrent Error-driven Adaptive Control Hierarchy...
View ArticleNatural policy gradient in TensorFlow
In working towards reproducing some results from deep learning control papers, one of the learning algorithms that came up was natural policy gradient. The basic idea of natural policy gradient is to...
View ArticleForce control of task-space orientation
So you want to use force control to control the orientation of your end-effector, eh? What a noble endeavour. I, too, wished to control the orientation of the end-effector. While the journey was long...
View ArticleWorkshop talk – Adaptive neurorobotics using Nengo and the Loihi
I gave a talk last month at the HALO (Harware and Algorithms for Learning On-achip) workshop at ICCAD (the International Conference on Computed Aided Design). It’s goes over the work from our paper...
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ABR Control supports Mujoco!
https://github.com/abr/abr_control And it has for a while, actually. ‘Oh great’, you may be thinking, ‘but I can never afford the Mujoco license, I’m not a tenured professor!’Well fear not, friends!...
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