Effective input order of dynamics learning tree

Chyon Hae Kim*, Shohei Hama, Ryo Hirai, Kuniyuki Takahashi, Hiroki Yamada, Tetsuya Ogata, Shigeki Sugano

*この研究の対応する著者

研究成果: Article査読

2 被引用数 (Scopus)

抄録

In this paper, we discuss about the learning performance of dynamics learning tree (DLT) while mainly focusing on the implementation on robot arms. We propose an input-order-designing method for DLT. DLT has been applied to the modeling of boat, vehicle, and humanoid robot. However, the relationship between the input order and the performance of DLT has not been investigated. In the proposed method, a developer is able to design an effective input order intuitively. The proposed method was validated in the model learning tasks on a simulated robot manipulator, a real robot manipulator, and a simulated vehicle. The first/second manipulator was equipped with flexible arm/finger joints that made uncertainty around the trajectories of manipulated objects. In all of the cases, the proposed method improved the performance of DLT.

本文言語English
ページ(範囲)122-136
ページ数15
ジャーナルAdvanced Robotics
32
3
DOI
出版ステータスPublished - 2018 2月 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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