Print Email Facebook Twitter A Novel Adaptive Controller for Robot Manipulators Based on Active Inference Title A Novel Adaptive Controller for Robot Manipulators Based on Active Inference Author Pezzato, C. (TU Delft Robot Dynamics) Ferrari, Riccardo M.G. (TU Delft Team Jan-Willem van Wingerden) Hernández, Carlos (TU Delft Robot Dynamics) Date 2020 Abstract More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This letter presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is easily scalable to high degrees-of-freedom, and it maintains high performance even in the presence of large unmodeled dynamics. The proposed method is based on active inference, a promising neuroscientific theory of the brain, which describes a biologically plausible algorithm for perception and action. In this work, we formulate active inference from a control perspective, deriving a model-free control law which is less sensitive to unmodeled dynamics. The performance and the adaptive properties of the algorithm are compared to a state-of-the-art model reference adaptive controller (MRAC) in an experimental setup with a real 7-DOF robot arm. The results showed that the AIC outperformed the MRAC in terms of adaptability, providing a more general control law. This confirmed the relevance of active inference for robot control. Subject Biologically-inspired robotsadaptive control of robotic systemsindustrial robotsactive inferencefree-energy principle To reference this document use: http://resolver.tudelft.nl/uuid:7405752e-89a6-4a15-b2ec-e53ca1d16b57 DOI https://doi.org/10.1109/LRA.2020.2974451 Embargo date 2020-08-17 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 5 (2), 2973-2980 Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2020 C. Pezzato, Riccardo M.G. Ferrari, Carlos Hernández Files PDF 09000729.pdf 1.16 MB Close viewer /islandora/object/uuid:7405752e-89a6-4a15-b2ec-e53ca1d16b57/datastream/OBJ/view