Matches in SemOpenAlex for { <https://semopenalex.org/work/W2904294411> ?p ?o ?g. }
Showing items 1 to 69 of
69
with 100 items per page.
- W2904294411 abstract "Author(s): Lin, Hsien-Chung | Advisor(s): Tomizuka, Masayoshi | Abstract: Although robots play increasingly important roles in automated production due to their high efficiency, high accuracy, and high repeatability, new challenges for robots arise from different aspects as market demands shift and technology improves. The increasing product complexity and shorter product life cycle bring more difficulties into factories. Hence, higher intelligence for robots is necessary to perform various complicated tasks and to safely assist human workers. In order to enhance robot intelligence, one could consider referencing the pattern of human development. When dealing with a completely new task, humans would learn or ask for assistance from experienced people or experts. Once learned, humans would apply such skill to various similar tasks. Furthermore, rather than merely completing the task, humans would make plans to accomplish the mission with better quality and efficiency. The following three phases could be referred to if we apply the same pattern to robot intelligence: 1) Programming, 2) Learning, and 3) Planning. Programming is to retrieve the information/knowledge from human. Learning is to generalize the learned skill to similar tasks. Planning is to plan an optimal policy to achieve the goal given constraints.Following the aforementioned phases, this dissertation is divided into three parts to study the three phases. The programming part investigates several alternative programming approaches and introduces an online collision avoidance algorithm for human guidance programming. Following the framework of learning from demonstration, the learning part proposes remote lead through teaching (RLTT) for assembling and grinding skill learning and applies the non-rigid registration algorithm - coherent point drift (CPD) to transfer the learned grasp examples to similar objects. The planning part presents a fast robot motion planner by using the convex feasible set (CFS) to solve the nonconvex optimization problem in collision avoidance path planning and operational time reduction." @default.
- W2904294411 created "2018-12-22" @default.
- W2904294411 creator A5067794123 @default.
- W2904294411 date "2018-01-01" @default.
- W2904294411 modified "2023-09-26" @default.
- W2904294411 title "Embedding Intelligence into Robotic Systems - Programming, Learning, and Planning" @default.
- W2904294411 hasPublicationYear "2018" @default.
- W2904294411 type Work @default.
- W2904294411 sameAs 2904294411 @default.
- W2904294411 citedByCount "0" @default.
- W2904294411 crossrefType "journal-article" @default.
- W2904294411 hasAuthorship W2904294411A5067794123 @default.
- W2904294411 hasConcept C105409693 @default.
- W2904294411 hasConcept C107457646 @default.
- W2904294411 hasConcept C111472728 @default.
- W2904294411 hasConcept C119857082 @default.
- W2904294411 hasConcept C127413603 @default.
- W2904294411 hasConcept C138885662 @default.
- W2904294411 hasConcept C154945302 @default.
- W2904294411 hasConcept C166957645 @default.
- W2904294411 hasConcept C201995342 @default.
- W2904294411 hasConcept C2776505523 @default.
- W2904294411 hasConcept C2779530757 @default.
- W2904294411 hasConcept C2780451532 @default.
- W2904294411 hasConcept C41008148 @default.
- W2904294411 hasConcept C90509273 @default.
- W2904294411 hasConcept C95457728 @default.
- W2904294411 hasConceptScore W2904294411C105409693 @default.
- W2904294411 hasConceptScore W2904294411C107457646 @default.
- W2904294411 hasConceptScore W2904294411C111472728 @default.
- W2904294411 hasConceptScore W2904294411C119857082 @default.
- W2904294411 hasConceptScore W2904294411C127413603 @default.
- W2904294411 hasConceptScore W2904294411C138885662 @default.
- W2904294411 hasConceptScore W2904294411C154945302 @default.
- W2904294411 hasConceptScore W2904294411C166957645 @default.
- W2904294411 hasConceptScore W2904294411C201995342 @default.
- W2904294411 hasConceptScore W2904294411C2776505523 @default.
- W2904294411 hasConceptScore W2904294411C2779530757 @default.
- W2904294411 hasConceptScore W2904294411C2780451532 @default.
- W2904294411 hasConceptScore W2904294411C41008148 @default.
- W2904294411 hasConceptScore W2904294411C90509273 @default.
- W2904294411 hasConceptScore W2904294411C95457728 @default.
- W2904294411 hasLocation W29042944111 @default.
- W2904294411 hasOpenAccess W2904294411 @default.
- W2904294411 hasPrimaryLocation W29042944111 @default.
- W2904294411 hasRelatedWork W1419809196 @default.
- W2904294411 hasRelatedWork W164072472 @default.
- W2904294411 hasRelatedWork W2063471043 @default.
- W2904294411 hasRelatedWork W2114882146 @default.
- W2904294411 hasRelatedWork W2120982521 @default.
- W2904294411 hasRelatedWork W2132112091 @default.
- W2904294411 hasRelatedWork W2138739434 @default.
- W2904294411 hasRelatedWork W2324775316 @default.
- W2904294411 hasRelatedWork W2518731509 @default.
- W2904294411 hasRelatedWork W2540713920 @default.
- W2904294411 hasRelatedWork W2613529244 @default.
- W2904294411 hasRelatedWork W2913892001 @default.
- W2904294411 hasRelatedWork W304821478 @default.
- W2904294411 hasRelatedWork W3090747277 @default.
- W2904294411 hasRelatedWork W3128545355 @default.
- W2904294411 hasRelatedWork W3200901145 @default.
- W2904294411 hasRelatedWork W3203679646 @default.
- W2904294411 hasRelatedWork W3209494879 @default.
- W2904294411 hasRelatedWork W640679338 @default.
- W2904294411 hasRelatedWork W79302034 @default.
- W2904294411 isParatext "false" @default.
- W2904294411 isRetracted "false" @default.
- W2904294411 magId "2904294411" @default.
- W2904294411 workType "article" @default.