Learning for Adaptive and Reactive Robot Control by Aude Billard;Sina Mirrazavi;Nadia Figueroa;

Author:Aude Billard;Sina Mirrazavi;Nadia Figueroa;
Language: eng
Format: epub
Tags: Robotics, Machine Learning, Human-Robot Interaction, Dynamical Systems
Publisher: MIT Press

Programming Exercise 6.1   Open MATLAB and set the directory to the following folder:

This code launches a MATLAB simulation of a two-dimensional (2D) coupled system of the form and with two linear DSs for fx and fy both stable at the origin, and z a 2D vector point. Do the following:

1. Make the attractor of both systems depend on z such that fx stabilizes at point 1 and fy at point −1. Where should z be?

2. Generate a linear displacement for z and observe the resulting movement of x and y.

3. The stability of the system depends on the speed at which z moves. Create a dynamics for z twice faster than the integration step of the two DSs. What happens?

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