Learning precise 3D reaching in a humanoid robot
Learning precise 3D reaching in a humanoid robot
复制标题
学习人形机器人的精确 3D 触及
DOI：
--
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
G. Metta
中科院分区：
文献类型：
--
作者：
L. Natale;F. Nori;G. Sandini;G. Metta
本文讨论了上半身仿人机器人精确触达控制器的实现。所提出的解决方案基于一种学习策略，该学习策略不依赖于手臂或头部的运动学的先验模型。通过学习，机器人可以通过开环和闭环组件在三维空间中接触到视觉识别的对象；开环控制器允许弹道运动，而闭环控制器在视觉空间执行手的精确定位。与其他方法不同，我们处理头部和手臂冗余的关键情况，并提出一种解决方案，尽管是初步的，但具有一定的生物学相关性。
In this paper we discuss the implementation of a precise reaching controller on an upper-torso humanoid robot. The proposed solution is based on a learning strategy which does not rely on a priori models of the kinematics of the arm nor of that of the head. After learning, the robot can reach for visually identified objects in 3-D space by integrating an open loop and a closed loop component; the open loop controller allows ballistic movements, while the closed loop one performs precise positioning of the hand in visual space. Differently from other approaches we handle the critical case of redundancy in the head and the arm and propose a solution that although preliminary possesses some biological relevance.
影响因子：
4.6
作者：
Ashmead,DH;McCarty,ME;Lucas,LS;Belvedere,MC
通讯作者：
Belvedere,MC
影响因子：
4.6
作者：
R. K. Clifton;D. Muir;D. Ashmead;M. G. Clarkson
通讯作者：
R. K. Clifton;D. Muir;D. Ashmead;M. G. Clarkson