Title :
Learning a visual task by genetic programming
Author :
Chongistitvatana, P. ; Polvichai, Jumpol
Author_Institution :
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok, Thailand
Abstract :
This work describes a hand-eye system that can learn from its experience. The task is to visually guide the hand to reach a target while avoiding obstacles. The motion planning problem is solved by genetic programming. The system learns the forward kinematics by building a lookup table and uses it in the simulation run to generate robot programs that perform the task. The genetically created programs are validated by the actual runs on the robot
Keywords :
genetic algorithms; learning systems; manipulator kinematics; path planning; robot programming; robot vision; table lookup; forward kinematics; genetic programming; hand-eye system; lookup table; manipulators; motion planning; obstacle avoidance; robot programs; visual guidance; visual task learning; Artificial intelligence; Genetic algorithms; Genetic programming; Intelligent robots; Intelligent structures; Learning systems; Motion planning; Orbital robotics; Robot kinematics; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570847
