Title :
Sensorimotor coordination and sensor fusion by neural networks
Author :
Wei, Guo-Qing ; Hirzinger, G. ; Brunner, B.
Author_Institution :
German Aerosp. Res. Establ., Oberpfaffenhofen, Germany
Abstract :
A neural network method to solve the motion determination problem for robot end-effector motion without any calibration is presented. Two kinds of sensory data, i.e., camera images and laser ranges, are used as the input to a multilayer forward network in order to associate the direct transformation from the sensory data to the required motions. This provides a practical sensor fusion method. Using a recursive motion strategy, the requirement for the exactness of the learned transformation is relaxed. Experimental results verify the method
Keywords :
feedforward neural nets; manipulators; sensor fusion; calibration; camera images; laser ranges; motion determination; multilayer forward network; neural networks; recursive motion strategy; sensor fusion; sensorimotor coordination; Calibration; Cameras; Computer vision; Neural networks; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor fusion;
Conference_Titel :
Neural Networks, 1993., IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-0999-5
DOI :
10.1109/ICNN.1993.298548