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Kinematic Bézier maps
dc.contributor.author | Ulbrich, Stefan |
dc.contributor.author | Ruiz de Angulo García, Vicente |
dc.contributor.author | Torras, Carme |
dc.contributor.author | Asfour, Tamim |
dc.contributor.author | Dillmann, Rudiger |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2013-01-14T18:06:08Z |
dc.date.available | 2013-01-14T18:06:08Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Ulbrich, S. [et al.]. Kinematic Bézier maps. "IEEE transactions on systems man and cybernetics Part B-Cybernetics", 2012, vol. 42, núm. 4, p. 1215-1230. |
dc.identifier.issn | 1083-4419 |
dc.identifier.uri | http://hdl.handle.net/2117/17357 |
dc.description.abstract | The kinematics of a robot with many degrees of freedom is a very complex function. Learning this function for a large workspace with a good precision requires a huge number of training samples, i.e., robot movements. In this paper, we introduce the Kinematic Bézier Map (KB-Map), a parameterizable model without the generality of other systems but whose structure readily incorporates some of the geometric constraints of a kinematic function. In this way, the number of training samples required is drastically reduced. Moreover, the simplicity of the model reduces learning to solving a linear least squares problem. Systematic experiments have been carried out showing the excellent interpolation and extrapolation capabilities of KB-Maps and their relatively low sensitivity to noise. |
dc.format.extent | 16 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
dc.subject.lcsh | Artificial intelligence |
dc.subject.other | learning (artificial intelligence) robot kinematics robots PARAULES AUTOR: learning |
dc.subject.other | robot kinematics |
dc.subject.other | humanoid robots |
dc.title | Kinematic Bézier maps |
dc.type | Article |
dc.subject.lemac | Intel·ligència artificial |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/TSMCB.2012.2188507 |
dc.subject.inspec | Classificació INSPEC::Cybernetics::Artificial intelligence |
dc.relation.publisherversion | http://dx.doi.org/10.1109/TSMCB.2012.2188507 |
dc.rights.access | Open Access |
local.identifier.drac | 10837212 |
dc.description.version | Preprint |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/215821/EU/Emergence of Cognitive Grasping through Emulation, Introspection, and Surprise/GRASP |
local.citation.author | Ulbrich, S.; Ruiz De Angulo, V.; Torras, C.; Asfour, T.; Dillmann, R. |
local.citation.publicationName | IEEE transactions on systems man and cybernetics Part B-Cybernetics |
local.citation.volume | 42 |
local.citation.number | 4 |
local.citation.startingPage | 1215 |
local.citation.endingPage | 1230 |
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