Reduction of active degrees of freedom in motion learning
説明
In this work, possibility of decreasing active degrees of freedom in the motion learning was investigated. For simplicity, it was focussed on producing the motion of a robot arm with four degrees of freedom only from a three-dimensional time sequence of Cartesian positions generated by movements of a mouse on pad while writing. In this case, the attitude angles(orientation) of the arm's end-effector cannot be directly determined since the mouse trajectory has no information about it. However, this problem is solved by using an artificial neural network which maps a segment of the time sequence onto the attitude angles. Additionally, to confirm the effectiveness of the proposed scheme, successful hand-writing is actually performed by the robot manipulator.
収録刊行物
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- Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)
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Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694) 2 931-936, 2004-03-01
IEEE
