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A Neural Network-Based Approach to Robot Motion Control.
Uli Grasemann, Daniel
Stronger, and Peter Stone.
In Ubbo Visser, Fernando Ribeiro, Takeshi
Ohashi, and Frank Dellaert, editors, RoboCup-2007: Robot Soccer World Cup XI, Lecture Notes in Artificial Intelligence,
pp. 480–87, Springer Verlag, Berlin, 2008.
[PDF]280.9kB [postscript]1.6MB
The joint controllers used in robots like the Sony Aibo are designed for the task of moving the joints of the robot to a given position. However, they are not well suited to the problem of making a robot move through a desired trajectory at speeds close to the physical capabilities of the robot, and in many cases, they cannot be bypassed easily. In this paper, we propose an approach that models both the robot's joints and its built-in controllers as a single system that is in turn controlled by a neural network. The neural network controls the entire trajectory of a robot instead of just its static position. We implement and evaluate our approach on a Sony Aibo ERS-7.
@incollection{LNAI2007-grasemann,
author="Uli Grasemann and Daniel Stronger and Peter Stone",
title="A Neural Network-Based Approach to Robot Motion Control",
booktitle= "{R}obo{C}up-2007: Robot Soccer World Cup {XI}",
Editor="Ubbo Visser and Fernando Ribeiro and Takeshi Ohashi
and Frank Dellaert",
Publisher="Springer Verlag",
address="Berlin",
year="2008",
series="Lecture Notes in Artificial Intelligence",
volume="5001",
pages="480--87",
abstract="The joint controllers used in robots like the Sony
Aibo are designed for the task of moving the joints of the
robot to a given position. However, they are not well suited
to the problem of making a robot move through a desired
trajectory at speeds close to the physical capabilities of the
robot, and in many cases, they cannot be bypassed easily. In
this paper, we propose an approach that models both the
robot's joints and its built-in controllers as a single system
that is in turn controlled by a neural network. The neural
network controls the entire trajectory of a robot instead of
just its static position. We implement and evaluate our
approach on a Sony Aibo ERS-7.",
wwnote = {Official version from <a href="http://dx.doi.org/10.1007/978-3-540-68847-1_51">Publisher's Webpage</a>© Springer-Verlag},
}
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