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Neural net applications in advanced robot control systems

Hirzinger, G. and Koeppe, F. and Lange, F. and Wei, G.Q. (1993) Neural net applications in advanced robot control systems. In: Proc. Statusseminar Neuroinformatik. Schloß Maurach, Bodensee, 20.-21. Oct. 1992 Vortragender: Hirzinger, G..

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Abstract

The paper outlines DLR's present approaches to neural net based robot control in different areas within the frame of the BMFT- funded project NERES. The investigations aim mainly at the improvement of robot dynamics based on joint level control for a new generation of torque-controlled light-weight robots on one side, and on learning and self-improvement of sensory feedback involving the robot's environment on the other side. For these latter investigations force-torque (tactile) feedback is taken into account as well as nontactile sensorfusion of TV-images and range finder information. Tabular knowledge-bases, backpropagation techniques in multilayer nets as well as Kalman filter algorithms are the main technique applied to these feedback-type problems. In addition to these control-oriented topics, world-modelling by feeding sensory data range into Kohonen-nets has been initiated recently.

Item URL in elib:https://elib.dlr.de/28057/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1993, pages=12,
Title:Neural net applications in advanced robot control systems
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
Koeppe, F.UNSPECIFIEDUNSPECIFIED
Lange, F.UNSPECIFIEDUNSPECIFIED
Wei, G.Q.UNSPECIFIEDUNSPECIFIED
Date:1993
Journal or Publication Title:Proc. Statusseminar Neuroinformatik
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Event Title:Schloß Maurach, Bodensee, 20.-21. Oct. 1992 Vortragender: Hirzinger, G.
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:UNSPECIFIED
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:52

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