Model-based and Model-Free Robot Control: A Review

Bowei Zhang; Pengcheng Liu

Model-based and Model-Free Robot Control: A Review

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Robot control is one of the key aspects of robotics research. Models are essential tools in robotics, such as the robot’s own body dynamics and kinematics models, actuator/motor models, and the models of external controllable objects. In this paper, we review the latest advances in model-based and model-free ap-proaches with a strong focus on robot control. Based on the designed search strategy, several prevailing control approaches are classified and discussed ac-cording to their control strategies. An insight into the gripper control is also explored. Then the research problems and applicability of the control methods are discussed by investigating their merits and demerits. Based on the discussion, we summarize the challenges and future research trends of robot control.

Original language	English
Title of host publication	8th International Conference on Robot Intelligence Technology and Applications (proceedings)
Publisher	IEEE
Publication status	Accepted/In press - 15 Nov 2020
Event	The 8th International Conference on Robot Intelligence Technology and Applications - Cardiff, Cardiff, United Kingdom Duration: 11 Dec 2020 → 13 Dec 2020

Conference

Conference	The 8th International Conference on Robot Intelligence Technology and Applications
Country/Territory	United Kingdom
City	Cardiff
Period	11/12/20 → 13/12/20

Bibliographical note

This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details.

Access to Document

Model-based and Model-Free Robot Control: A Review
This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details.
Accepted author manuscript, 225 KB

Cite this

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title = "Model-based and Model-Free Robot Control: A Review",

abstract = "Robot control is one of the key aspects of robotics research. Models are essential tools in robotics, such as the robot{\textquoteright}s own body dynamics and kinematics models, actuator/motor models, and the models of external controllable objects. In this paper, we review the latest advances in model-based and model-free ap-proaches with a strong focus on robot control. Based on the designed search strategy, several prevailing control approaches are classified and discussed ac-cording to their control strategies. An insight into the gripper control is also explored. Then the research problems and applicability of the control methods are discussed by investigating their merits and demerits. Based on the discussion, we summarize the challenges and future research trends of robot control.",

author = "Bowei Zhang and Pengcheng Liu",

note = "This is an author-produced version of the published paper. Uploaded in accordance with the publisher{\textquoteright}s self-archiving policy. Further copying may not be permitted; contact the publisher for details. ; The 8th International Conference on Robot Intelligence Technology and Applications ; Conference date: 11-12-2020 Through 13-12-2020",

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AU - Liu, Pengcheng

N1 - This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details.

PY - 2020/11/15

Y1 - 2020/11/15

N2 - Robot control is one of the key aspects of robotics research. Models are essential tools in robotics, such as the robot’s own body dynamics and kinematics models, actuator/motor models, and the models of external controllable objects. In this paper, we review the latest advances in model-based and model-free ap-proaches with a strong focus on robot control. Based on the designed search strategy, several prevailing control approaches are classified and discussed ac-cording to their control strategies. An insight into the gripper control is also explored. Then the research problems and applicability of the control methods are discussed by investigating their merits and demerits. Based on the discussion, we summarize the challenges and future research trends of robot control.

AB - Robot control is one of the key aspects of robotics research. Models are essential tools in robotics, such as the robot’s own body dynamics and kinematics models, actuator/motor models, and the models of external controllable objects. In this paper, we review the latest advances in model-based and model-free ap-proaches with a strong focus on robot control. Based on the designed search strategy, several prevailing control approaches are classified and discussed ac-cording to their control strategies. An insight into the gripper control is also explored. Then the research problems and applicability of the control methods are discussed by investigating their merits and demerits. Based on the discussion, we summarize the challenges and future research trends of robot control.

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