標題: Robot motion command simplification and scaling
作者: Young, KY
Liu, SH
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: accuracy-simplification tradeoff;command simplification and scaling;robot learning control
公開日期: 1-Aug-2002
摘要: It has been observed that human limb motions are not very accurate, leading to the hypothesis that the human motor control system may have simplified motion commands at the expense of motion accuracy. Inspired by this hypothesis, we propose learning schemes that trade motion accuracy for motion command simplification. When the original complex motion commands capable of tracking motion accurately are reduced to simple forms, the simplified motion commands can then be stored and manipulated by using learning mechanisms with simple structures and scanty memory resources, and they can be executed quickly and smoothly. This paper also proposes learning schemes that can perform motion command scaling, so that simplified motion commands can be provided for a number of similar motions of different movement distances and velocities without recalculating system dynamics. Simulations based on human motions are reported that demonstrate the effectiveness of the proposed learning schemes in implementing this accuracy-simplification tradeoff.
URI: http://dx.doi.org/10.1109/TSMCB.2002.1018765
http://hdl.handle.net/11536/28612
ISSN: 1083-4419
DOI: 10.1109/TSMCB.2002.1018765
期刊: IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume: 32
Issue: 4
起始頁: 455
結束頁: 469
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