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Kinematic Bézier maps

Autor
Ulbrich, S.; Ruiz De Angulo, V.; Torras, C.; Asfour, T.; Dillmann, R.
Tipus d'activitat
Article en revista
Revista
IEEE transactions on systems man and cybernetics Part B-Cybernetics
Data de publicació
2012
Volum
42
Número
4
Pàgina inicial
1215
Pàgina final
1230
DOI
https://doi.org/10.1109/TSMCB.2012.2188507 Obrir en finestra nova
Projecte finançador
IntellAct: Intelligent observation and execution of Actions and manipulations
Repositori
http://hdl.handle.net/2117/17357 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/TSMCB.2012.2188507 Obrir en finestra nova
Resum
The kinematics of a robot with many degrees of freedom is a very complex function. Learning this function for a large workspace with a good precision requires a huge number of training samples, i.e., robot movements. In this paper, we introduce the Kinematic Bézier Map (KB-Map), a parameterizable model without the generality of other systems but whose structure readily incorporates some of the geometric constraints of a kinematic function. In this way, the number of training samples required i...
Citació
Ulbrich, S. [et al.]. Kinematic Bézier maps. "IEEE transactions on systems man and cybernetics Part B-Cybernetics", 2012, vol. 42, núm. 4, p. 1215-1230.
Paraules clau
humanoid robots, learning (artificial intelligence) robot kinematics robots PARAULES AUTOR: learning, robot kinematics
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
ROBiri - Grup de Robòtica de l'IRI

Participants

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