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Titolo:
A KENDAMA LEARNING ROBOT BASED ON BIDIRECTIONAL THEORY
Autore:
MIYAMOTO H; SCHAAL S; GANDOLFO F; GOMI H; KOIKE Y; OSU R; NAKANO E; WADA Y; KAWATO M;
Indirizzi:
HIKARIDAI 2-2 KYOTO 61902 JAPAN ATR HUMAN INFORMAT PROC RES LABS KYOTO JAPAN GEORGIA INST TECHNOL ATLANTA GA 30332 MIT CAMBRIDGE MA 02139 NIPPON TELEGRAPH & TEL PUBL CORP,BASIC RES LABS KANAGAWA JAPAN TOYOTA MOTOR CO LTD TOYOTA JAPAN KYOTO UNIV KYOTO 606 JAPAN KOBE UNIV KOBE 657 JAPAN KAWASAKI STEEL CHEM IND CO LTD KAWASAKI KANAGAWA JAPAN
Titolo Testata:
Neural networks
fascicolo: 8, volume: 9, anno: 1996,
pagine: 1281 - 1302
SICI:
0893-6080(1996)9:8<1281:AKLRBO>2.0.ZU;2-U
Fonte:
ISI
Lingua:
ENG
Soggetto:
NEURAL-NETWORK MODEL; MULTIJOINT ARM MOVEMENT; HUMAN ELBOW JOINT; TRAJECTORY FORMATION; COMPUTATIONAL MODEL; VOLUNTARY MOVEMENT; PERCEPTION; CEREBELLUM; STIFFNESS; GRASP;
Keywords:
TEACHING BY SHOWING; TASK-LEVEL LEARNING; DYNAMIC OPTIMIZATION;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
CompuMath Citation Index
Science Citation Index Expanded
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
43
Recensione:
Indirizzi per estratti:
Citazione:
H. Miyamoto et al., "A KENDAMA LEARNING ROBOT BASED ON BIDIRECTIONAL THEORY", Neural networks, 9(8), 1996, pp. 1281-1302

Abstract

A general theory of movement-pattern perception based on bi-directional theory for sensory-motor integration can be used for motion captureand learning by watching in robotics. We demonstrate our methods using the game of Kendama, executed by the SARCOS Dextrous Slave Arm, which has a very similar kinematic structure to the human arm. Three ingredients have to be integrated for the successful execution of this task. The ingredients are (1) to extract via-points from a human movement trajectory using a forward-inverse relaxation model, (2) to treat via-points as a control variable while reconstructing the desired trajectory from all the via-points, and (3) to modify the via-points for successful execution. In order to test the validity of the via-point representation, we utilized a numerical model of the SARCOS arm, and examined the behavior of the system under several conditions. Copyright (C) 1996 Elsevier Science Ltd.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 08/04/20 alle ore 23:56:04