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Computational neural learning formalisms for manipulator inverse kinematicsAn efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.
Document ID
19900019714
Document Type
Conference Paper
Authors
Gulati, Sandeep (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Barhen, Jacob (Jet Propulsion Lab. California Inst. of Tech., Pasadena., United States)
Iyengar, S. Sitharama (Louisiana State Univ. Baton Rouge., United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: Proceedings of the NASA Conference on Space Telerobotics, Volume 1
Subject Category
CYBERNETICS
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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