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Título: | Learning inverse kinematics: Reduced sampling through decomposition into virtual robots |
Autor: | Ruiz de Angulo, Vicente CSIC ORCID ; Torras, Carme CSIC ORCID | Palabras clave: | Function approximation Learning inverse kinematics Parametrized self-organizing maps (PSOMs) Robot kinematics Automatic theorem proving |
Fecha de publicación: | 2008 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics 38(6): 1571-1577 (2008) | Resumen: | We propose a technique to speed up the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any requirement on the robot architecture and, thus, it is completely general. Parametrized Self-Organizing Maps (PSOM) are particularly adequate for this type of learning, and permit comparing results obtained directly and through the decomposition. Experimentation shows that time reductions of up to two orders of magnitude are easily attained. | Descripción: | An earlier version of this paper was presented at IWANN-2005. | Versión del editor: | http://dx.doi.org/10.1109/TSMCB.2008.928232 | URI: | http://hdl.handle.net/10261/30608 | DOI: | 10.1109/TSMCB.2008.928232 | ISSN: | 1083-4419 |
Aparece en las colecciones: | (IRII) Artículos |
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Learning inverse kinematics.pdf | 559,27 kB | Adobe PDF | Visualizar/Abrir |
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