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Erschienen in:
Intelligent Systems in Modeling Phase of Information Mining Development Process Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

Fully Automated Learning for Position and Contact Force of Manipulated Object with Wired Flexible Finger Joints

verfasst von : Kanta Watanabe, Shun Nishide, Manabu Gouko, Chyon Hae Kim

Erschienen in: Trends in Applied Knowledge-Based Systems and Data Science

Verlag: Springer International Publishing

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Abstract

We discuss about the modeling technology in the object manipulation of the robot arm that is equipped with flexible finger joints. In recent years, flexible robot fingers are getting attention because of their handling capability and safety. However, the position and contact force of manipulated object take much non-linear uncertainty from the flexibility. In this paper, we propose the modeling framework of the position and contact force of the manipulated object. The proposed framework is an online learning method that is composed of motor babbling, dynamics learning tree (DLT), and \(\epsilon \)-greedy method. In the experiments, the effectiveness of DLT was compared with neural network (NN), the effectiveness of the proposed framework was validated using a drawing task of a humanoid robot that equipped with flexible finger joints. The proposed framework was able to realize a fully automated incremental-manipulation-learning.

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Vorheriges Kapitel Hourly Solar Radiation Forecasting Through Model Averaged Neural Networks and Alternating Model Trees
Nächstes Kapitel Vehicle Dynamics Modeling Using FAD Learning
Fußnoten
1
The same algorithm is used in another proposition [17] that is presented in this conference.
 
2
The humanoid robot NAO was placed on the top of the figures. It moved a pen using its right hand. The result of Exploitation mode has a bias compared with the others. This might be because Exploitation mode searches pen tip positions conservatively by exploiting the knowledge of DLT.
 
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Metadaten
Titel
Fully Automated Learning for Position and Contact Force of Manipulated Object with Wired Flexible Finger Joints
verfasst von
Kanta Watanabe
Shun Nishide
Manabu Gouko
Chyon Hae Kim
Copyright-Jahr
2016
Buch
Trends in Applied Knowledge-Based Systems and Data Science

Print ISBN: 978-3-319-42006-6

Electronic ISBN: 978-3-319-42007-3

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-42007-3_64