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Merging Substrategies for Manipulator Path Planning by Structured Boltzmann Machines
http://hdl.handle.net/10445/6202
http://hdl.handle.net/10445/62026bae58c0-37bc-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 | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
| 資源タイプ | conference paper | |||||
| アクセス権 | ||||||
| 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× Kakazu, Yukinori |
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| 抄録 | ||||||
| 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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| 査読有無 | ||||||
| 値 | あり/yes | |||||
| 研究業績種別 | ||||||
| 値 | 国際会議/International Conference | |||||
| 単著共著 | ||||||
| 値 | 共著/joint | |||||
