Journal
FUZZY SETS AND SYSTEMS
Volume 124, Issue 2, Pages 155-170Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/S0165-0114(00)00081-6
Keywords
robot learning control; learning space complexity; motion similarity analysis; fuzzy neural network
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Learning controllers are usually subordinate to conventional controllers in governing multiple-joint robot motion, in spite of their ability to generalize, because learning space complexity and motion variety require them to consume excessive amount of memory when they are employed as major roles in motion governing. We propose using a fuzzy neural network (FNN) to learn and analyze robot motions so that they can be classified according to similarity. After classification, the learning controller can then be designed to govern robot motions according to their similarities without consuming excessive memory resources. (C) 2001 Elsevier Science B.V. All rights reserved.
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