{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/comparative-evaluation-of-learning-models-for","title":"Comparative Evaluation of Learning Models for Bionic Robots: Non-Linear Transfer Function Identifications","arxiv_id":"2407.02428","date":"2024-07-02","proceeding":null,"authors":["Po-Yu Hsieh","June-Hao Hou"],"abstract":"The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives by utilizing numerical data to establish a direct mapping from actuation inputs to robot trajectories without complex kinematics models. However, for developers, the method of identifying an appropriate learning model for their specific bionic robots and further constructing the transfer function has not been thoroughly discussed. Thus, this research introduces a comprehensive evaluation strategy and framework for the application of model-free control, including data collection, learning model selection, comparative analysis, and transfer function identification to effectively deal with the multi-input multi-output (MIMO) robotic data.","url_abs":"https://arxiv.org/abs/2407.02428v2","url_pdf":"https://arxiv.org/pdf/2407.02428v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"comparative-evaluation-of-learning-models-for","repo_url":"https://github.com/poyuhs/model-free-robotics","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"ensemble-learning","task_name":"Ensemble Learning"},{"task_slug":"model-selection","task_name":"Model Selection"}],"methods":[],"datasets_introduced":[{"slug":"motion-tracking-of-bionic-tendon-driven-robot","name":"Motion Tracking of Bionic Tendon-Driven Robot","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}