A SOM-based sensing approach to robotic manipulation tasks

被引：1

作者：

Cervera, E ^{[1
]}

de Pobil, AP ^{[1
]}

机构：

[1] Jaume I Univ, Dept Comp Sci, E-12071 Castellon de La Plana, Spain

来源：

KOHONEN MAPS | 1999年

关键词：

D O I：

10.1016/B978-044450270-4/50016-4

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a SOM-based approach for learning manipulation tasks, particularly the peg-in-hole insertion. The input to the SOM consists of force signals which define the contact state together with a qualitative position information. The combination of a SOM for feature extraction and a reinforcement algorithm for action learning is proposed. The paper presents experimental results of the application of this approach to real manipulation tasks with uncertainty in three dimensions using non-cylindrical parts. The system learns the task by performing successive trials, without further supervision. The SOM-based representation is able to generalize to other shape of the peg.

引用

页码：207 / 217

页数：11

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