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Proceedings Paper

Manifold traversing as a model for learning control of autonomous robots
Author(s): Zoltan F. Szakaly; Paul S. Schenker
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Paper Abstract

This paper describes a recipe for the construction of control systems that support complex machines such as multi-limbed/multi-fingered robots. The robot has to execute a task under varying environmental conditions and it has to react reasonably when previously unknown conditions are encountered. Its behavior should be learned and/or trained as opposed to being programmed. The paper describes one possible method for organizing the data that the robot has learned by various means. This framework can accept useful operator input even if it does not fully specify what to do, and can combine knowledge from autonomous, operator assisted and programmed experiences.

Paper Details

Date Published: 30 April 1992
PDF: 11 pages
Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57962
Show Author Affiliations
Zoltan F. Szakaly, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 1611:
Sensor Fusion IV: Control Paradigms and Data Structures
Paul S. Schenker, Editor(s)

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