Collision Avoidance for a Visuo-motor System Using Multiple Self-organizing Maps
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概要
- 論文の詳細を見る
Collision avoidance for a visuo-motor system in unstructured and cluttered environment is described. The achievement of collision avoidance is based on a simplified path planning system and motion control performed by self-organizing maps. The self-organizing maps are learned to determine joint angles of a redundant manipulator. Since the learning algorithm promises to make the manipulator reach targets precisely with obstacle-free poses, the path planning system only needs to plan a collision-free path for the end effector of the manipulator in the image spaces. By means of the cooperation of two self-organizing maps, the system solves occlusion problems successfully. Simulation results are presented to demonstrate the effectiveness of the proposed approach.
- 九州大学の論文
著者
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KONDO Eiji
Department of Mechanical Engineering, Graduate School of Science and Engineering, Kagoshima Universi
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Kondo Eiji
Kyushu Univ. Fukuoka‐shi Jpn
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Han Min
Department Of Intelligent Machinery And System Graduate School Of Engineering Kyushu University
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OKADA Nobuhiro
Department of Intelligent Machinery and System, Graduate School of Engineering, Kyushu University
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Okada Nobuhiro
Department Of Intelligent Machinery And System Graduate School Of Engineering Kyushu University
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Kondo Eiji
Department Of Intelligent Machinery And System Graduate School Of Engineering Kyushu University
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Han Min
Department Of Chemical And Biological Engineering Applied Rheology Center Korea University
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Kondo Eiji
Department Of Anatomy & Neuroscience Osaka University Medical School
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