Learning inverse kinematics: reduced sampling through decomposition into virtual robots.
We propose a technique to speedup the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any requirement on the robot architecture, and thus, it is completely general. Parametrized self-organizing maps are particularly adequate for this type of learning, and permit comparing results directly obtained and through the decomposition. Experimentation shows that time reductions of up to two orders of magnitude are easily attained.
de Angulo
Vicente Ruiz
VR
Institut de Robòtica i Informàtica Industrial (CSICUPC), 08028 Barcelona, Spain. ruiz@iri.upc.edu
Torras
Carme
C
D000465:Algorithms; D001185:Artificial Intelligence; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D006801:Humans; D008962:Models, Theoretical; D010363:Pattern Recognition, Automated / Q000379:methods*; D012371:Robotics / Q000379:methods*; D018401:Sample Size; D012815:Signal Processing, Computer-Assisted