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Self-organized learning and its implementation of robot movements

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2 Author(s)
Xin-Zhi Zheng ; Interdisciplinary Graduate Sch. of Sci. & Eng., Tokyo Inst. of Technol., Japan ; Ito, K.

The self-organizing map algorithm using an artificial neural network originally developed by Kohonen and extended and modified later provides a distributed and autonomous learning procedure in engineering modeling of the human sensory-motor mapping mechanism. Its extension and adaptation to a control problem of a robot manipulator has been intensively discussed in past years. In this article the application of the self-organizing map algorithm to the generation of a visuo-motor map is focused on. A task-oriented inverse kinematic solution to a redundant manipulator is formed and real-time implementation of the map on a mechanical manipulator is performed

Published in:

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on  (Volume:1 )

Date of Conference:

12-15 Oct 1997

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