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	Neural Learning of Stable Dynamical Systems based on Extreme Learning Machine
	Jianbing Hu; Zining Yang; Zhiyang Wang; Xinyu Wu; Yongsheng Ou
	2015
会议名称	IEEE International Conference on Information and Automation
会议地点	Lijiang
英文摘要	This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations. We solve the corresponding optimization problem using nonlinear programming and evaluate it on an available data set and a real robot. Combined with the generalization capacities of extreme learning machine, the results show that the human movement strategies within demonstrations can be generalized well.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6777]
专题	深圳先进技术研究院_集成所
作者单位	2015
推荐引用方式 GB/T 7714	Jianbing Hu,Zining Yang,Zhiyang Wang,et al. Neural Learning of Stable Dynamical Systems based on Extreme Learning Machine[C]. 见:IEEE International Conference on Information and Automation. Lijiang.

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