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  1. 文献種別
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  3. 奥野 拓 (Okuno, Taku)

Merging Substrategies for Manipulator Path Planning by Structured Boltzmann Machines

http://hdl.handle.net/10445/6202
http://hdl.handle.net/10445/6202
6bae58c0-37bc-4cf3-8d5f-27e4fde48642
Item type 会議発表論文 / Conference Paper(1)
公開日 2011-04-19
タイトル
タイトル Merging Substrategies for Manipulator Path Planning by Structured Boltzmann Machines
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言語 eng
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資源タイプ識別子 http://purl.org/coar/resource_type/c_5794
資源タイプ conference paper
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アクセス権 metadata only access
アクセス権URI http://purl.org/coar/access_right/c_14cb
著者 奥野, 拓

× 奥野, 拓

WEKO 18
e-Rad 30360936

ja 奥野, 拓
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Kakazu, Yukinori

× Kakazu, Yukinori

WEKO 1139

Kakazu, Yukinori

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内容記述タイプ Abstract
内容記述 This paper tries to develop a scheme for path planning which is adaptive to drastic changes in the environment, by modifying the scheme of the Structured Boltzmann Machine. The SBM is composed of two-layered network modules. We propose that paths planned in advance for different environments are learned in-dependently by such modules where they are represented by sets of sub-strategies. In a new environment, the modules are connected to merge their sub-strategies. By the combined effect of associative memory and the competition between modules, the sub-strategies for given states are extracted from the modules, and these sub-strategies make up a complete path for the new envi-ronment. The proposed framework is applied to a simplified path planning problem using a 2-link manipulator.
書誌情報 Proceedings of the 1993 JSME International Conference on Advanced Mechatronics

p. 949-954, 発行日 1993-08
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値 国際会議/International Conference
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