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..
Full text not available from this repository.
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/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | |||||||||||||||
Additional Information: | LIDO-Berichtsjahr=1993, pages=12, | |||||||||||||||
Title: | Neural net applications in advanced robot control systems | |||||||||||||||
Authors: |
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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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