FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4311754178> ?p ?o ?g. }

• W4311754178 endingPage "159" @default.
• W4311754178 startingPage "146" @default.
• W4311754178 abstract "Due to changes in the environment and errors that occurred during skill initialization, the robot's operational skills should be modified to adapt to new tasks. As such, skills learned by the methods with fixed features, such as the classical Dynamical Movement Primitive (DMP), are difficult to use when the using cases are significantly different from the demonstrations. In this work, we propose an incremental robot skill learning and generalization framework including an incremental DMP (IDMP) for robot trajectory learning and an adaptive neural network (NN) control method, which are incrementally updated to enable robots to adapt to new cases. IDMP uses multi-mapping feature vectors to rebuild the forcing function of DMP, which are extended based on the original feature vector. In order to maintain the original skills and represent skill changes in a new task, the new feature vector consists of three parts with different usages. Therefore, the trajectories are gradually changed by expanding the feature and weight vectors, and all transition states are also easily recovered. Then, an adaptive NN controller with performance constraints is proposed to compensate dynamics errors and changed trajectories after using the IDMP. The new controller is also incrementally updated and can accumulate and reuse the learned knowledge to improve the learning efficiency. Compared with other methods, the proposed framework achieves higher tracking accuracy, realizes incremental skill learning and modification, achieves multiple stylistic skills, and is used for obstacle avoidance with different heights, which are verified in three comparative experiments." @default.
• W4311754178 created "2022-12-28" @default.
• W4311754178 creator A5015243405 @default.
• W4311754178 creator A5043839950 @default.
• W4311754178 creator A5057911864 @default.
• W4311754178 creator A5062103852 @default.
• W4311754178 date "2023-02-01" @default.
• W4311754178 modified "2023-09-26" @default.
• W4311754178 title "A trajectory and force dual-incremental robot skill learning and generalization framework using improved dynamical movement primitives and adaptive neural network control" @default.
• W4311754178 cites W1986014385 @default.
• W4311754178 cites W2078763164 @default.
• W4311754178 cites W2136719407 @default.
• W4311754178 cites W2722424650 @default.
• W4311754178 cites W2738226240 @default.
• W4311754178 cites W2791542133 @default.
• W4311754178 cites W2797679738 @default.
• W4311754178 cites W2883972132 @default.
• W4311754178 cites W2884325870 @default.
• W4311754178 cites W2908949019 @default.
• W4311754178 cites W2946362902 @default.
• W4311754178 cites W2964319110 @default.
• W4311754178 cites W2981922616 @default.
• W4311754178 cites W2984769036 @default.
• W4311754178 cites W2994446013 @default.
• W4311754178 cites W3015812680 @default.
• W4311754178 cites W3152883941 @default.
• W4311754178 cites W3169677172 @default.
• W4311754178 cites W4285305977 @default.
• W4311754178 doi "https://doi.org/10.1016/j.neucom.2022.11.076" @default.
• W4311754178 hasPublicationYear "2023" @default.
• W4311754178 type Work @default.
• W4311754178 citedByCount "0" @default.
• W4311754178 crossrefType "journal-article" @default.
• W4311754178 hasAuthorship W4311754178A5015243405 @default.
• W4311754178 hasAuthorship W4311754178A5043839950 @default.
• W4311754178 hasAuthorship W4311754178A5057911864 @default.
• W4311754178 hasAuthorship W4311754178A5062103852 @default.
• W4311754178 hasBestOaLocation W43117541781 @default.
• W4311754178 hasConcept C114466953 @default.
• W4311754178 hasConcept C119857082 @default.
• W4311754178 hasConcept C121332964 @default.
• W4311754178 hasConcept C127413603 @default.
• W4311754178 hasConcept C1276947 @default.
• W4311754178 hasConcept C134306372 @default.
• W4311754178 hasConcept C13662910 @default.
• W4311754178 hasConcept C138885662 @default.
• W4311754178 hasConcept C154945302 @default.
• W4311754178 hasConcept C177148314 @default.
• W4311754178 hasConcept C199360897 @default.
• W4311754178 hasConcept C19966478 @default.
• W4311754178 hasConcept C201995342 @default.
• W4311754178 hasConcept C203479927 @default.
• W4311754178 hasConcept C2776401178 @default.
• W4311754178 hasConcept C2780451532 @default.
• W4311754178 hasConcept C33923547 @default.
• W4311754178 hasConcept C41008148 @default.
• W4311754178 hasConcept C41895202 @default.
• W4311754178 hasConcept C50644808 @default.
• W4311754178 hasConcept C6557445 @default.
• W4311754178 hasConcept C6683253 @default.
• W4311754178 hasConcept C83665646 @default.
• W4311754178 hasConcept C86803240 @default.
• W4311754178 hasConcept C90509273 @default.
• W4311754178 hasConceptScore W4311754178C114466953 @default.
• W4311754178 hasConceptScore W4311754178C119857082 @default.
• W4311754178 hasConceptScore W4311754178C121332964 @default.
• W4311754178 hasConceptScore W4311754178C127413603 @default.
• W4311754178 hasConceptScore W4311754178C1276947 @default.
• W4311754178 hasConceptScore W4311754178C134306372 @default.
• W4311754178 hasConceptScore W4311754178C13662910 @default.
• W4311754178 hasConceptScore W4311754178C138885662 @default.
• W4311754178 hasConceptScore W4311754178C154945302 @default.
• W4311754178 hasConceptScore W4311754178C177148314 @default.
• W4311754178 hasConceptScore W4311754178C199360897 @default.
• W4311754178 hasConceptScore W4311754178C19966478 @default.
• W4311754178 hasConceptScore W4311754178C201995342 @default.
• W4311754178 hasConceptScore W4311754178C203479927 @default.
• W4311754178 hasConceptScore W4311754178C2776401178 @default.
• W4311754178 hasConceptScore W4311754178C2780451532 @default.
• W4311754178 hasConceptScore W4311754178C33923547 @default.
• W4311754178 hasConceptScore W4311754178C41008148 @default.
• W4311754178 hasConceptScore W4311754178C41895202 @default.
• W4311754178 hasConceptScore W4311754178C50644808 @default.
• W4311754178 hasConceptScore W4311754178C6557445 @default.
• W4311754178 hasConceptScore W4311754178C6683253 @default.
• W4311754178 hasConceptScore W4311754178C83665646 @default.
• W4311754178 hasConceptScore W4311754178C86803240 @default.
• W4311754178 hasConceptScore W4311754178C90509273 @default.
• W4311754178 hasFunder F4320320300 @default.
• W4311754178 hasFunder F4320334627 @default.
• W4311754178 hasFunder F4320336035 @default.
• W4311754178 hasFunder F4320338337 @default.
• W4311754178 hasLocation W43117541781 @default.
• W4311754178 hasOpenAccess W4311754178 @default.
• W4311754178 hasPrimaryLocation W43117541781 @default.
• W4311754178 hasRelatedWork W2107318723 @default.
• W4311754178 hasRelatedWork W2354804986 @default.
• W4311754178 hasRelatedWork W2374512474 @default.

• next