Deep Neural Network Approach in Human-Like Redundancy Optimization for Anthropomorphic Manipulators

A Hybrid Neural Network Approach for Kinematic Modeling of a Novel 6-UPS Parallel Human-Like Mastication Robot

Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

Redundancy resolution of manipulators through torque optimization

Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear...

a hybrid neural network approach for kinematic modeling of a novel 6-ups parallel human-like mastication robot

introduction we aimed to introduce a 6-universal-prismatic-spherical (ups) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. we proposed a strategy to provide a fast and accurate solution to the kinematic problem. the proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

Large Scale Distributed Hessian-Free Optimization for Deep Neural Network

Training deep neural network is a high dimensional and a highly non-convex optimization problem. In this paper, we revisit Hessian-free optimization method for deep networks with negative curvature direction detection. We also develop its distributed variant and demonstrate superior scaling potential to SGD, which allows more efficiently utilizing larger computing resources thus enabling large ...