Skill based motion planning in hierarchi
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Takanori Shibata; Tamotsu Abe; Kazuo Tanie; Matsuo Nose
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Article
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1996
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Elsevier Science
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English
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This paper introduces a skill based manipulation in a hierarchical intelligent control scheme for robots. The scheme has three levels: learning level, skill level and adaptation level. Particularly, this paper concerns the skill level and proposes a modeling method of criteria of skilled operators f