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• W2488388259 abstract "We discuss about the modeling technology in the object manipulation of the robot arm that is equipped with flexible finger joints. In recent years, flexible robot fingers are getting attention because of their handling capability and safety. However, the position and contact force of manipulated object take much non-linear uncertainty from the flexibility. In this paper, we propose the modeling framework of the position and contact force of the manipulated object. The proposed framework is an online learning method that is composed of motor babbling, dynamics learning tree (DLT), and (epsilon )-greedy method. In the experiments, the effectiveness of DLT was compared with neural network (NN), the effectiveness of the proposed framework was validated using a drawing task of a humanoid robot that equipped with flexible finger joints. The proposed framework was able to realize a fully automated incremental-manipulation-learning." @default.
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• W2488388259 date "2016-01-01" @default.
• W2488388259 modified "2023-09-27" @default.
• W2488388259 title "Fully Automated Learning for Position and Contact Force of Manipulated Object with Wired Flexible Finger Joints" @default.
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• W2488388259 doi "https://doi.org/10.1007/978-3-319-42007-3_64" @default.
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