Robot motion similarity analysis using an FNN learning mechanism

Kuu-Young Young*, Jyh K. Wang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

Learning controllers are usually subordinate to conventional controllers in governing multiple-joint robot motion, in spite of their ability to generalize, because learning space complexity and motion variety require them to consume excessive amount of memory when they are employed as major roles in motion governing. We propose using a fuzzy neural network (FNN) to learn and analyze robot motions so that they can be classified according to similarity. After classification, the learning controller can then be designed to govern robot motions according to their similarities without consuming excessive memory resources.

Original languageAmerican English
Pages (from-to)155-170
Number of pages16
JournalFuzzy Sets and Systems
Volume124
Issue number2
DOIs
StatePublished - 1 Dec 2001

Keywords

  • Fuzzy neural network
  • Learning space complexity
  • Motion similarity analysis
  • Robot learning control

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