tailieunhanh - Rapid Learning in Robotics

Robotics deals with the control of actuators using various types of sensors and control schemes. The availability of precise sensorimotor mappings – able to transform between various involved motor, joint, sensor, and physical spaces – is a crucial issue. These mappings are often highly nonlinear and sometimes hard to derive analytically. Consequently, there | Rapid Learning in Robotics Jorg Walter Die Deutsche Bibliothek CIP Data Walter Jorg Rapid Learning in Robotics by Jorg Walter 1st ed. Gottingen Cuvillier 1996 Zugl. Bielefeld Univ. Diss. 1996 ISBN 3-89588-728-5 Copyright 1997 1996 for electronic publishing Jorg Walter Technische Fakultat Universitat Bielefeld AG Neuroinformatik PBox 100131 33615 Bielefeld Germany Email walter@ Url http walter 1997 for hard copy publishing Cuvillier Verlag Nonnenstieg 8 D-37075 Gottingen Germany Fax 49-551-54724-21 Jorg A. Walter Rapid Learning in Robotics Robotics deals with the control of actuators using various types of sensors and control schemes. The availability of precise sensorimotor mappings - able to transform between various involved motor joint sensor and physical spaces - is a crucial issue. These mappings are often highly nonlinear and sometimes hard to derive analytically. Consequently there is a strong need for rapid learning algorithms which take into account that the acquisition of training data is often a costly operation. The present book discusses many of the issues that are important to make learning approaches in robotics more feasible. Basis for the major part of the discussion is a new learning algorithm the Parameterized Self-Organizing Maps that is derived from a model of neural self-organization. A key feature of the new method is the rapid construction of even highly nonlinear variable relations from rather modestly-sized training data sets by exploiting topology information that is not utilized in more traditional approaches. In addition the author shows how this approach can be used in a modular fashion leading to a learning architecture for the acquisition of basic skills during an investment learning phase and subsequently for their rapid combination to adapt to new situational .