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Neural approaches to robot control: Four representative applications

  • Neural Networks for Communications and Control
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From Natural to Artificial Neural Computation (IWANN 1995)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 930))

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Abstract

This paper reviews neural network techniques for achieving adaptivity in both manipulator and mobile robots. It is structured in two parts. First, the different learning approaches are classified according to the amount of training information they require: quantitative (supervised approaches), qualitative (reinforcement-based approaches) and none (unsupervised approaches). Afterwards, the adequacy of each approach for solving specific problems in robot control is illustrated through four working industrial prototypes developed by the authors in the frame of two Esprit projects. The problems tackled are the inverse kinematics and inverse dynamics of robot manipulators, visual robot positioning and mobile robot navigation.

The support from the ESPRIT III Program of the European Union under contracts No. 6715 (project CONNY) and No. 7274 (project B-LEARN II) is gratefully acknowledged. The authors wish to thank all the partners involved in these projects for their cooperation and especially, Dr. Christophe Venaille, for his contribution in the field of visual positioning, Mr. Jesús Sardá for his help in developing dynamic control schemes and Mr. Conor Doherty for his work in the implementation of the inverse kinematics update.

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Authors and Affiliations

  1. Institut de Cibernètica, CSIC-UPC, Diagonal, 647, 08028, Barcelona, Spain

    Carme Torras, Gabriela Cembrano & Gordon Wells

  2. Institute for System Engineering and Informatics, European Commission, Joint Research Centre, TP 361, 21020, Ispra, VA, Italy

    José del R. Millán

Authors
  1. Carme Torras
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  2. Gabriela Cembrano
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  3. José del R. Millán
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  4. Gordon Wells
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José Mira Francisco Sandoval

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© 1995 Springer-Verlag Berlin Heidelberg

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Torras, C., Cembrano, G., Millán, J.d.R., Wells, G. (1995). Neural approaches to robot control: Four representative applications. In: Mira, J., Sandoval, F. (eds) From Natural to Artificial Neural Computation. IWANN 1995. Lecture Notes in Computer Science, vol 930. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-59497-3_281

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  • DOI: https://doi.org/10.1007/3-540-59497-3_281

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-59497-0

  • Online ISBN: 978-3-540-49288-7

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