کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413590 680577 2006 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Learning at the level of synergies for a robot weightlifter
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Learning at the level of synergies for a robot weightlifter
چکیده انگلیسی

Human motor coordination is associated with “synergies” in the neuromuscular system that cause our bodies to behave as coordinated units rather than collections of decoupled degrees of freedom. The focus of this paper is the role that synergies play for robot motor coordination, and in particular, we use a weightlifting task to demonstrate how trial-and-error learning can cause synergies to evolve from a simple control system and crude kinematic path. We also show how a robot learns to exploit its intrinsic dynamics, thereby improving performance, as individual joint motions become actively coupled via the control system.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 8, 31 August 2006, Pages 706–717
نویسندگان
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