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Hirzinger, G. und Koeppe, F. und Lange, F. und 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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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/28057/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||
| Zusätzliche Informationen: | LIDO-Berichtsjahr=1993, pages=12, | ||||||||||||||||||||
| Titel: | Neural net applications in advanced robot control systems | ||||||||||||||||||||
| Autoren: |
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| Datum: | 1993 | ||||||||||||||||||||
| Erschienen in: | Proc. Statusseminar Neuroinformatik | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Veranstaltungstitel: | Schloß Maurach, Bodensee, 20.-21. Oct. 1992 Vortragender: Hirzinger, G. | ||||||||||||||||||||
| HGF - Forschungsbereich: | NICHT SPEZIFIZIERT | ||||||||||||||||||||
| HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||
| HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | NICHT SPEZIFIZIERT | ||||||||||||||||||||
| DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | NICHT SPEZIFIZIERT | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Institut für Dynamik der Flugsysteme | ||||||||||||||||||||
| Hinterlegt von: | DLR-Beauftragter, elib | ||||||||||||||||||||
| Hinterlegt am: | 02 Apr 2006 | ||||||||||||||||||||
| Letzte Änderung: | 27 Apr 2009 06:52 |
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