| Presentation | 1998/3/20 Task-Oriented Iterative Learning of Joint Impedance Kenji FUKUSHIMA, Xin-Zhi ZHENG, Koji ITO, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Iterative learning approach to skillful motion control of kinematically redundant manipulators is focused. Motion skills in execution of tasks are modelled as dynamical and task-oriented formations of the joint impedance of manipulators, which are suggested to be formed in repetation of task. Iterative learning algorithms based on Variant Calculus is proposed, and simulation examples on a three-DOF manipulators in several simple tasks are given. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Joint Impedance / Iterative Learning / Redundant Manipulators |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 1998/3/20(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Task-Oriented Iterative Learning of Joint Impedance |
| Sub Title (in English) | |
| Keyword(1) | Joint Impedance |
| Keyword(2) | Iterative Learning |
| Keyword(3) | Redundant Manipulators |
| 1st Author's Name | Kenji FUKUSHIMA |
| 1st Author's Affiliation | Department of Computational Intelligence and Systems Science Interdisciplirary Graduate School of Science and Engineering Tokyo Institute of Technology() |
| 2nd Author's Name | Xin-Zhi ZHENG |
| 2nd Author's Affiliation | Department of Computational Intelligence and Systems Science Interdisciplirary Graduate School of Science and Engineering Tokyo Institute of Technology |
| 3rd Author's Name | Koji ITO |
| 3rd Author's Affiliation | Department of Computational Intelligence and Systems Science Interdisciplirary Graduate School of Science and Engineering Tokyo Institute of Technology |
| Date | 1998/3/20 |
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| Volume (vol) | vol.97 |
| Number (no) | 622 |
| Page | pp.pp.- |
| #Pages | 8 |
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