Title :
Adding Active Learning to LWR for Ping-Pong Playing Robot
Author :
Yanlong Huang ; De Xu ; Min Tan ; Hu Su
Author_Institution :
State Key Lab. of Manage. & Control for Complex Syst., Inst. of Autom., Beijing, China
Abstract :
In this brief, we consider the problem of controlling the racket attached to the ping-pong playing robot, so that the incoming ball is returned to a desired position. The maps that are used to calculate the racket´s initial parameters are described. They are implemented with the locally weighted regression (LWR). An active learning approach based on the fuzzy cerebellar model articulation controller (FCMAC) is proposed, and then it is added to the LWR, which is regarded as lazy learning. A learning algorithm that is used for updating the experience data in the fuzzy CMAC according to the errors between the actual and desired landing positions is presented. A series of experiments has been performed to demonstrate the applicability of the proposed method.
Keywords :
cerebellar model arithmetic computers; fuzzy control; learning systems; neurocontrollers; position control; regression analysis; robots; sport; FCMAC; LWR; active learning approach; actual landing position; desired landing position; experience data update; fuzzy CMAC; fuzzy cerebellar model articulation controller; lazy learning; learning algorithm; locally weighted regression; ping-pong playing robot; racket control; racket initial parameters; Data models; Games; Input variables; Robot kinematics; Robot sensing systems; Trajectory; Active learning; fuzzy cerebellar model articulation controller (FCMAC); lazy learning; locally weighted regression (LWR); ping-pong playing robot;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2012.2208193