Kinematic Bézier Maps
نویسندگان
چکیده
منابع مشابه
Kinematic Bézier Maps
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 ...
متن کاملLearning robot dynamics with Kinematic Bézier Maps
The previously presented Kinematic Bézier Maps (KBM) are a machine learning algorithm that has been tailored to efficiently learn the kinematics of redundant robots. This algorithms relies upon a representation based on projective geometry that uses a special set of polynomial functions borrowed from the field of Computer Aided Geometric Design (CAGD). So far, it has only been possible to learn...
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This paper addresses the problem of hand-eye coordination and, more specifically, tool-eye recalibration of humanoid robots. Inspired by results from neuroscience, a novel method to learn the forward kinematics model as part of the body schema of humanoid robots is presented. By making extensive use of techniques borrowed from the field of computer-aided geometry, the proposed Kinematic Bezier ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
سال: 2012
ISSN: 1083-4419,1941-0492
DOI: 10.1109/tsmcb.2012.2188507