Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand
المؤلفون المشاركون
Balkenius, Christian
Johnsson, Magnus
المصدر
العدد
المجلد 2010، العدد 2010 (31 ديسمبر/كانون الأول 2010)، ص ص. 1-9، 9ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2010-02-21
دولة النشر
مصر
عدد الصفحات
9
التخصصات الرئيسية
الملخص EN
We have implemented and compared four biologically motivated self-organizing haptic systems based on proprioception.
All systems employ a 12-d.o.f.
anthropomorphic robot hand, the LUCS Haptic Hand 3.
The four systems differ in the kind of self-organizing neural network used for clustering.
For the mapping of the explored objects, one system uses a Self-Organizing Map (SOM), one uses a Growing Cell Structure (GCS), one uses a Growing Cell Structure with Deletion of Neurons (GCS-DN), and one uses a Growing Grid (GG).
The systems were trained and tested with 10 different objects of different sizes from two different shape categories.
The generalization abilities of the systems were tested with 6 new objects.
The systems showed good performance with the objects from the training set as well as in the generalization experiments.
Thus the systems could discriminate individual objects, and they clustered the activities into small cylinders, large cylinders, small blocks, and large blocks.
Moreover, the self-organizing ANNs were also organized according to size.
The GCS-DN system also evolved disconnected networks representing the different clusters in the input space (small cylinders, large cylinders, small blocks, large blocks), and the generalization samples activated neurons in a proper subnetwork in all but one case.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Johnsson, Magnus& Balkenius, Christian. 2010. Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand. Journal of Robotics،Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-504124
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Johnsson, Magnus& Balkenius, Christian. Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand. Journal of Robotics No. 2010 (2010), pp.1-9.
https://search.emarefa.net/detail/BIM-504124
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Johnsson, Magnus& Balkenius, Christian. Haptic Perception with Self-Organizing ANNs and an Anthropomorphic Robot Hand. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-504124
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-504124
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر