An approach to enlarge learning space coverage for robot learning control

Kuu-Young Young*, Shaw Ji Shiah

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


In robot learning control, the learning space for executing general motions of multijoint robot manipulators is quite large. Consequently, for most learning schemes, the learning controllers are used as subordinates to conventional controllers or the learning process needs to be repeated each time a new trajectory is encountered, although learning controllers are considered to be capable of generalization. In this paper, we propose an approach for larger learning space coverage in robot learning control. In this approach, a new structure for learning control is proposed to organize information storage via effective memory management. The proposed structure is motivated by the concept of human motor program and consists mainly of a fuzzy system and a cerebellar model articulation controller (CMAC)-type neural network. The fuzzy system is used for governing a number of sampled motions in a class of motions. The CMAC-type neural network is used to generalize the parameters of the fuzzy system, which are appropriate for the governing of the sampled motions, to deal with the whole class of motions. Under this design, in some sense the qualitative fuzzy rules in the fuzzy system are generalized by the CMAC-type neural network and then a larger learning space can be covered. Therefore, the learning effort is dramatically reduced in dealing with a wide range of robot motions, while the learning process is performed only once. Simulations emulating ball carrying under various conditions are presented to demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)511-522
Number of pages12
JournalIEEE Transactions on Fuzzy Systems
Issue number4
StatePublished - 1 Dec 1997


  • CMAC-type neural network
  • Fuzzy system
  • Human motor program
  • Learning space coverage
  • Robot learning control

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