DocumentCode
2803207
Title
A neural framework for robot motor planning
Author
Pagliano, Stefano ; Sanguineti, Vittorio ; Morasso, Pietro
Author_Institution
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
fYear
1991
fDate
3-5 Nov 1991
Firstpage
237
Abstract
A computational model is proposed for trajectory planning of redundant robots starting from studies about synergy generation in human motor system. Based on the passive motion paradigm (PMP), i.e., on an analogic mechanism, the model shows a good representational power and is able to manage several robot motor planning problems. Such a connectionist model shows analogies with several neural network paradigms, in particular relaxation, and can be expressed in terms of neuron-like processing elements
Keywords
biomechanics; muscle; neural nets; physiological models; planning (artificial intelligence); robots; biomechanics; human motor system; muscle, physiological models; musculo-skeletal system; neural network; passive motion paradigm; redundant robots; robot motor planning; trajectory planning; Computational modeling; Energy management; Humans; Motion planning; Portable media players; Power system management; Power system modeling; Power system planning; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location
Osaka
Print_ISBN
0-7803-0067-X
Type
conf
DOI
10.1109/IROS.1991.174456
Filename
174456
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