Trajectory planning of manipulator for a hitting task with autonomous incremental learning

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Trajectory planning of manipulator for a hitting task with autonomous incremental learning
	You CY(由畅宇); Han JD(韩建达)
	2007
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
会议日期	December 15-18, 2007
会议地点	Sanya, China
关键词	manipulator trajectory planning genetic algorithm incremental learning
页码	1446-1450
中文摘要	A new approach based on genetic algorithm (GA) and autonomous mental development for trajectory planning of robot manipulator is presented in this paper. The trajectory for the manipulator is optimized by the GA. To make the trajectory planning used in real time application, a developmental learning algorithm is proposed to generate an incremental hierarchical discriminating regression (IHDR) tree to form the mapping from the state space to the action space. Just like the human brain from infancy to adulthood, the algorithm develops its cognitive and behavioral skills through online learning from the samples obtained from the GA-based method. When the IHDR tree is generated, it can perform the trajectory planning in real time by retrieving in its knowledge database.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
会议录	2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-1761-2
WOS记录号	WOS:000257065801086
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8931]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	You CY,Han JD. Trajectory planning of manipulator for a hitting task with autonomous incremental learning[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007.