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- W3204604077 abstract "In this paper, a method of motion generation for articulated manipulators is proposed. In this method, motion sequence is generated based on past motion experience. The rough procedure is as follows. Various reaching motions are performed by the manipulator in advance, and then, these experiences are stored by the manipulator as end-effector poses, joint angles, environment map, and so on. Then, the manipulator generates a new motion sequence by efficiently using the past experiences when a new target end-effector pose is given. The proposed method comprises two phases: similar experience search and motion modification. In the latter phase, a neural network is utilized to calculate the amount of modification movement. It ensures a certain level of trajectory reproducibility. The effectiveness of the proposed method is proven via simulation considering planar and 3D manipulators." @default.
- W3204604077 created "2021-10-11" @default.
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- W3204604077 date "2021-08-23" @default.
- W3204604077 modified "2023-10-16" @default.
- W3204604077 title "A Motion Generation Method for Articulated Manipulators Using Linear Mapping Matrices Calculated by Neural Networks" @default.
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- W3204604077 doi "https://doi.org/10.1109/case49439.2021.9551436" @default.
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