Title :
A neural framework for robot motor planning
Author :
Pagliano, Stefano ; Sanguineti, Vittorio ; Morasso, Pietro
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
Abstract :
A computational model is proposed for trajectory planning of redundant robots starting from studies about synergy generation in human motor system. Based on the passive motion paradigm (PMP), i.e., on an analogic mechanism, the model shows a good representational power and is able to manage several robot motor planning problems. Such a connectionist model shows analogies with several neural network paradigms, in particular relaxation, and can be expressed in terms of neuron-like processing elements
Keywords :
biomechanics; muscle; neural nets; physiological models; planning (artificial intelligence); robots; biomechanics; human motor system; muscle, physiological models; musculo-skeletal system; neural network; passive motion paradigm; redundant robots; robot motor planning; trajectory planning; Computational modeling; Energy management; Humans; Motion planning; Portable media players; Power system management; Power system modeling; Power system planning; Robots; Trajectory;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174456
