Towards multimodal neural robot learning
✍ Scribed by S. Wermter; C. Weber; M. Elshaw; C. Panchev; H. Erwin; F. Pulvermüller
- Book ID
- 104090684
- Publisher
- Elsevier Science
- Year
- 2004
- Tongue
- English
- Weight
- 181 KB
- Volume
- 47
- Category
- Article
- ISSN
- 0921-8890
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We present a neural method that computes the inverse kinematics of any kind of robot manipulators, both redundant and non-redundant. Inverse kinematics solutions are obtained through the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics.
Impedance control is an effective control method for a manipulator that is in contact with its environment. Nevertheless, the characteristics of force and motion control are determined by impedance parameters of the end-effector of the manipulator, which must be designed according to the given task.