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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