NDLI: Autonomous environment recognition by robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Senda, K. Okano, Y.
Copyright Year	2001
Description	Author affiliation: Graduate Sch. of Eng., Osaka Prefecture Univ., Japan (Senda, K.; Okano, Y.)
Abstract	This paper discusses methods of autonomous environment recognition and action by a robotic manipulator working with dynamic interaction to the environment, e.g., assembling. A method automatically recognizes the contacting situation with the work site from the sensor outputs and the robotic manipulator motion. The autonomous recognition then discriminates the constraint conditions at manipulator hand using the self-organizing map that is a kind of unsupervised learning of neural networks. The discrimination of the constraint conditions is successfully demonstrated by a numerical simulation of a 3-link SCARA type manipulator. Another is for the cognitive action. Some approaches based on the reinforcement learning are proposed. They give models of cognitive actions and approaches to so-called frame problem obstructing efficient learning and action.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	444
Ending Page	449
File Size	383232
Page Count	6
File Format	PDF
ISBN	0780372034
DOI	10.1109/CIRA.2001.1013241
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-07-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotics and automation Manipulator dynamics Robot sensing systems Equations Robotic assembly Robot kinematics Cognitive robotics Lagrangian functions Neural networks Learning
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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