An evolutionary optimisation approach to motor learning with first results of an application to robot manipulators

Author

Sullivan, J.C.W. ; Pipe, A.G.

Author_Institution

Intelligent Autom. Syst. Group, Univ. of the West of England, Bristol, UK

Volume

5

fYear

1997

fDate

12-15 Oct 1997

Firstpage

4406

Abstract

We review optimisation approaches to the problems of motor control, specifically the ill-posed problem of trajectory planning for a redundant planar manipulator, and evidence for the use of such principles in primate voluntary reaching movements. We then present the preliminary results of some experiments using Evolution Strategies (ES) to optimise reaching movements of a simulated 3 revolute joint (3R) planar manipulator. Empirical comparisons are made using different cost functionals, and qualitatively compared with previous optimisation-based models

Keywords

optimisation; path planning; position control; cost functionals; evolution strategies; evolutionary optimisation approach; ill-posed problem; motor learning; optimisation-based models; primate voluntary reaching movements; redundant planar manipulator; robot manipulators; simulated 3 revolute joint planar manipulator; trajectory planning; Calculus; Constraint optimization; Cost function; Intelligent robots; Intelligent systems; Manipulators; Motor drives; Polynomials; Robot kinematics; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.637514

Filename

637514