Rapid learning in robotics:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | German |
| Published: |
Göttingen
Cuvillier
1996
|
| Edition: | 1. Aufl. |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Zugl.: Bielefeld, Univ., Diss., 1996 |
| Physical Description: | X, 155 S. Ill., graph. Darst. |
| ISBN: | 3895887285 |
Staff View
MARC
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| 100 | 1 | |a Walter, Jörg |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Rapid learning in robotics |c Jörg Walter |
| 250 | |a 1. Aufl. | ||
| 264 | 1 | |a Göttingen |b Cuvillier |c 1996 | |
| 300 | |a X, 155 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 500 | |a Zugl.: Bielefeld, Univ., Diss., 1996 | ||
| 650 | 4 | |a Machine learning | |
| 650 | 4 | |a Mappings (Mathematics) | |
| 650 | 4 | |a Robotics | |
| 650 | 4 | |a Robots |x Programming | |
| 650 | 0 | 7 | |a Maschinelles Lernen |0 (DE-588)4193754-5 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Maschinelles Lernen |0 (DE-588)4193754-5 |D s |
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| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007479990&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-007479990 | |
Record in the Search Index
| _version_ | 1807501823626444800 |
|---|---|
| adam_text |
CONTENTS
FOREWORD
.
.
.
I
ACKNOWLEDGMENT
.
II
TABLE
OF
CONTENTS
.
III
TABLE
OF
FIGURES
.
V
1
INTRODUCTION
1
2
THE
ROBOTICS
LABORATORY
9
2.1
ACTUATION:
THE
PUMA
ROBOT
.
9
2.2
ACTUATION:
THE
HAND
"MANUS"
.
16
2.2.1
OIL
MODEL
.
17
2.2.2
HARDWARE
AND
SOFTWARE
INTEGRATION
.
17
2.3
SENSING:
TACTILE
PERCEPTION
.
19
2.4
REMOTE
SENSING:
VISION
.
21
2.5
CONCLUDING
REMARKS
.
22
3
ARTIFICIAL
NEURAL
NETWORKS
23
3.1
A
BRIEF
HISTORY
AND
OVERVIEW
OF
NEURAL
NETWORKS
.
23
3.2
NETWORK
CHARACTERISTICS
.
26
3.3
LEARNING
AS
APPROXIMATION
PROBLEM
.
28
3.4
APPROXIMATION
TYPES
.
31
3.5
STRATEGIES
TO
AVOID
OVER-FITTING
.
35
3.6
SELECTING
THE
RIGHT
NETWORK
SIZE
.
37
3.7
KOHONEN'S
SELF-ORGANIZING
MAP
.
38
3.8
IMPROVING
THE
OUTPUT
OF
THE
SOM
SCHEMA
.
41
4
THE
PSOM
ALGORITHM
43
4.1
THE
CONTINUOUS
MAP
.
43
4.2
THE
CONTINUOUS
ASSOCIATIVE
COMPLETION
.
46
CONTENTS
4.3
THE
BEST-MATCH
SEARCH
.
51
4.4
LEARNING
PHASES
.
53
4.5
BASIS
FUNCTION
SETS,
CHOICE
AND
IMPLEMENTATION
ASPECTS
.
.
56
4.6
SUMMARY
.
60
5
CHARACTERISTIC
PROPERTIES
BY
EXAMPLES
63
5.1
ILLUSTRATED
MAPPINGS
-
CONSTRUCTED
FROM
A
SMALL
NUMBER
OF
POINTS
.
63
5.2
MAP
LEARNING
WITH
UNREGULARLY
SAMPLED
TRAINING
POINTS
.
.
66
5.3
TOPOLOGICAL
ORDER
INTRODUCES
MODEL
BIAS
.
68
5.4
"TOPOLOGICAL
DEFECTS"
.
70
5.5
EXTRAPOLATION
ASPECTS
.
71
5.6
CONTINUITY
ASPECTS
.
72
5.7
SUMMARY
.
74
6
EXTENSIONS
TO
THE
STANDARD
PSOM
ALGORITHM
75
6.1
THE
"MULTI-START
TECHNIQUE"
.
76
6.2
OPTIMIZATION
CONSTRAINTS
BY
MODULATING
THE
COST
FUNCTION
77
6.3
THE
LOCAL-PSOM
.
78
6.3.1
APPROXIMATION
EXAMPLE:
THE
GAUSSIAN
BELL
.
80
6.3.2
CONTINUITY
ASPECTS:
ODD
SUB-GRID
SIZES
N'
GIVE
OP
TIONS
.
80
6.3.3
COMPARISON
TO
SPLINES
.
82
6.4
CHEBYSHEV
SPACED
PSOMS
.
83
6.5
COMPARISON
EXAMPLES:
THE
GAUSSIAN
BELL
.
84
6.5.1
VARIOUS
PSOM
ARCHITECTURES
.
85
6.5.2
LLM
BASED
NETWORKS
.
87
6.6
RLC-CIRCUIT
EXAMPLE
.
88
6.7
SUMMARY
.
91
7
APPLICATION
EXAMPLES
IN
THE
VISION
DOMAIN
95
7.1
2
D
IMAGE
COMPLETION
.
95
7.2
SENSOR
FUSION
AND
3
D
OBJECT
POSE
IDENTIFICATION
.
97
7.2.1
RECONSTRUCT
THE
OBJECT
ORIENTATION
AND
DEPTH
.
97
7.2.2
NOISE
REJECTION
BY
SENSOR
FUSION
.
99
7.3
LOW
LEVEL
VISION
DOMAIN:
A
FINGER
LIP
LOCATION
FINDER
.
.
.
102
CONTENTS
8
APPLICATION
EXAMPLES
IN
THE
ROBOTICS
DOMAIN
107
8.1
ROBOT
FINGER
KINEMATICS
.
107
8.2
THE
INVERSE
6
D
ROBOT
KINEMATICS
MAPPING
.
112
8.3
PUMA
KINEMATICS:
NOISY
DATA
AND
ADAPTATION
TO
SUDDEN
CHANGES
.
118
8.4
RESOLVING
REDUNDANCY
BY
EXTRA
CONSTRAINTS
FOR
THE
KINE
MATICS
.
119
8.5
SUMMARY
.
123
9
"MIXTURE-OF-EXPERTISE"
OR
"INVESTMENT
LEARNING"
125
9.1
CONTEXT
DEPENDENT
"SKILLS"
.125
9.2
"INVESTMENT
LEARNING"
OR
"MIXTURE-OF-EXPERTISE"
ARCHITEC
TURE
.
127
9.2.1
INVESTMENT
LEARNING
PHASE
.
127
9.2.2
ONE-SHOT
ADAPTATION
PHASE
.
128
9.2.3
"MIXTURE-OF-EXPERTISE"
ARCHITECTURE
.
128
9.3
EXAMPLES
.
130
9.3.1
COORDINATE
TRANSFORMATION
WITH
AND
WITHOUT
HIER
ARCHICAL
PSOMS
.
131
9.3.2
RAPID
VISUO-MOTOR
COORDINATION
LEARNING
.
132
9.3.3
FACTORIZE
LEARNING:
THE
3
D
STEREO
CASE
.
136
10
SUMMARY
139
BIBLIOGRAPHY
146 |
| any_adam_object | 1 |
| author | Walter, Jörg |
| author_facet | Walter, Jörg |
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| author_sort | Walter, Jörg |
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| ctrlnum | (OCoLC)38314785 (DE-599)BVBBV011157205 |
| discipline | Informatik |
| edition | 1. Aufl. |
| format | Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV011157205 |
| illustrated | Illustrated |
| indexdate | 2024-08-16T00:27:45Z |
| institution | BVB |
| isbn | 3895887285 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007479990 |
| oclc_num | 38314785 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-91 DE-BY-TUM DE-29T |
| owner_facet | DE-91G DE-BY-TUM DE-91 DE-BY-TUM DE-29T |
| physical | X, 155 S. Ill., graph. Darst. |
| publishDate | 1996 |
| publishDateSearch | 1996 |
| publishDateSort | 1996 |
| publisher | Cuvillier |
| record_format | marc |
| spelling | Walter, Jörg Verfasser aut Rapid learning in robotics Jörg Walter 1. Aufl. Göttingen Cuvillier 1996 X, 155 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Zugl.: Bielefeld, Univ., Diss., 1996 Machine learning Mappings (Mathematics) Robotics Robots Programming Maschinelles Lernen (DE-588)4193754-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Maschinelles Lernen (DE-588)4193754-5 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007479990&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Walter, Jörg Rapid learning in robotics Machine learning Mappings (Mathematics) Robotics Robots Programming Maschinelles Lernen (DE-588)4193754-5 gnd |
| subject_GND | (DE-588)4193754-5 (DE-588)4113937-9 |
| title | Rapid learning in robotics |
| title_auth | Rapid learning in robotics |
| title_exact_search | Rapid learning in robotics |
| title_full | Rapid learning in robotics Jörg Walter |
| title_fullStr | Rapid learning in robotics Jörg Walter |
| title_full_unstemmed | Rapid learning in robotics Jörg Walter |
| title_short | Rapid learning in robotics |
| title_sort | rapid learning in robotics |
| topic | Machine learning Mappings (Mathematics) Robotics Robots Programming Maschinelles Lernen (DE-588)4193754-5 gnd |
| topic_facet | Machine learning Mappings (Mathematics) Robotics Robots Programming Maschinelles Lernen Hochschulschrift |
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