Title :
Behavioral control of a robot arm
Author :
Smith, Russell L.
Author_Institution :
Dept. of Electr. & Electron. Eng., Auckland Univ., New Zealand
Abstract :
This paper describes a novel trainable controller which extends the feedback-error paradigm of Kawato (1987), called an adaptive trajectory generator. The controller can be adapted so that a controlled system shows a behavior which is specified using heuristic rules. The training algorithm is simple and computationally inexpensive. Its effectiveness is demonstrated with the control of a simulated two-link robot arm to repeatedly throw and catch a ball
Keywords :
feedback; learning (artificial intelligence); manipulator dynamics; neurocontrollers; robot programming; adaptive trajectory generator; behavioral control; feedback-error paradigm; heuristic rules; simulated two-link robot arm; trainable controller; training algorithm; Acceleration; Adaptive control; Automatic control; Biological neural networks; Brain modeling; Computational modeling; Control systems; Programmable control; Robot control; Robotics and automation;
Conference_Titel :
Artificial Neural Networks and Expert Systems, 1995. Proceedings., Second New Zealand International Two-Stream Conference on
Conference_Location :
Dunedin
Print_ISBN :
0-8186-7174-2
DOI :
10.1109/ANNES.1995.499505
