DocumentCode
2478144
Title
A learning dynamics model for robot
Author
Luan, Nan
Author_Institution
Res. Inst. of Robot., Shanghai Jiaotong Univ., Shanghai
fYear
2008
fDate
25-27 June 2008
Firstpage
1027
Lastpage
1031
Abstract
A new ANN (artificial neural network) structure is proposed to learn dynamics model of robot. The characterizing feature is that some integral units are appended to a recurrent ANN structure, so it can image dynamic process commendably. Generalization capacity of the learning dynamics model is discussed, as well as its application in optimization, etc. The effectiveness of the method is confirmed by simulated experiments but based on a real robot.
Keywords
intelligent robots; learning (artificial intelligence); neurocontrollers; optimisation; artificial neural network; generalization capacity; learning dynamics model; Artificial neural networks; Friction; Intelligent robots; Neural networks; Nonlinear dynamical systems; Nonlinear equations; Robot kinematics; Robotics and automation; Torque; Trajectory; artificial neural network; dynamics model; generalization capacity; optimization;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location
Chongqing
Print_ISBN
978-1-4244-2113-8
Electronic_ISBN
978-1-4244-2114-5
Type
conf
DOI
10.1109/WCICA.2008.4593062
Filename
4593062
Link To Document