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タイトル: A study toward cognitive action with environment recognition by a learning space robot
著者: Senda, Kei link image
Matsumoto, Tsutomu
Okano, Yuzo
発行日: 2003年 9月
出版社(者): IEEE
引用: Proceedings - IEEE International Conference on Robotics and Automation 1, pp. 797-802
雑誌名: Proceedings - IEEE International Conference on Robotics and Automation
ISSN: 1050-4729
巻: 1
開始ページ: 797
終了ページ: 802
キーワード: Collision avoidance
Computer simulation
Kinematics
Manipulators
Mobile robots
Pattern recognition
Robotic arms
Space applications
Arm trajectory control
Cognitive action
Frictionless table system
Learning space robot
Online learning
Space robot technology experiment
Robot learning
抄録: This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model is composed of two manipulators and a satellite vehicle, and can move freely on a two-dimensional planar table, without friction, using air-bearings. The robot model has successfully performed the automatic truss structure assembly, including many jobs, e.g., manipulator berthing, component manipulation, arm trajectory control collision avoidance, assembly using force control, etc. Moreover, even if the robot fails in a task planned in advance, the robot re-plans the task by using reinforcement learning, and obtains the task goal for basically kinematic problems. But, for a class of complicated dynamic problems, the computational periods and efforts are infeasible for on-line learning. Some approaches are proposed to accelerate the learning speed, which also give models of cognitive actions and approaches to so-called a frame problem. The experiment demonstrates the possibility of the autonomous construction and the usefulness of space robots.
URI: http://hdl.handle.net/2297/1846
資料種別: Journal Article
権利関係: ©2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” Proceedings - IEEE International Conference on Robotics and Automation 1, 2003,pp. 797-802
版表示: publisher
出現コレクション:1.査読済論文(工)

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