Lade Inhalt...

Online-Learning in Humanoid Robots

Diplomarbeit 2001 114 Seiten

Ingenieurwissenschaften - Künstliche Intelligenz

Zusammenfassung

Inhaltsangabe:Abstract:
Humanoid Robotic Systems have gained an increasing significance in the research world within the last few years. Just five years ago, there were hardly any human-like robots in the world, and those available did not represent human properties at all. They neither looked nor behaved like human beings. Today, a variety of research groups around the world is starting to work on topics related to humanoid robots, and it is very likely that these robots will become important within the upcoming decades even beyond the realm of science.
Trying to determine what humanoid robots are, a first draft of a definition might read as follows: such robots are to be called humanoid robots which - to some extent - are able to live and interact with the everyday human world, and represent certain human features, like cognitive or acting abilities. The main strength of such humanoid robots lies in their ability to operate in surroundings that have been designed for humans in the first place. Humanoid robots can be imagined to become useful assistants for every-day life in areas as diverse as:
- Rescue and clearing of dangerous situations.
- Janitorial services, Housekeeping.
- Security services.
- Care-taking in hospitals, recreational facilities.
- Entertainment.
In all these fields, close human interaction is a core issue and can be regarded as the minimum common basis. The interaction happens on many different levels, from physical touch to gesture recognition and the processing of spoken language. On cognitive issues like the two last named, much research has been done in the past few years. One has, however, to keep in mind that also the physical appearance, e.g. smoothness of motions, is an important issue when designing humanoid robots.

Inhaltsverzeichnis:Table of Contents:
FOREWORD1
1.INTRODUCTION2
1.1INTRODUCING THE AREA OF HUMANOID ROBOTICS2
1.2MECHANICAL DESIGN FOR HUMANOID ROBOTS3
1.3CONTROLLING HUMANOID ROBOTS4
1.4EXAMPLES OF TODAY'S HUMANOID ROBOTS5
1.5THE PURPOSE OF THE THESIS9
2.A BRIEF RECAPITULATION OF BASIC ROBOT CONTROL10
2.1INTRODUCTION TO ROBOT CONTROL10
2.2CONTROLLING THE EXECUTION OF DESIRED TRAJECTORIES12
2.3THE FEEDBACK CONTROL FUNCTION14
2.4THE FEED-FORWARD CONTROL FUNCTION17
2.5ESTIMATING DYNAMICS USING RIGID BODY ASSUMPTIONS18
2.6RECAPITULATION22
2.7CONTROL OF HUMANOID ROBOTS23
3.INTRODUCTION TO ROBOT LEARNING25
3.1GENERAL REMARKS ON ROBOT LEARNING25
3.2THE BIAS / VARIANCE […]

Details

Seiten
114
Erscheinungsform
Originalausgabe
Jahr
2001
ISBN (eBook)
9783832448585
ISBN (Buch)
9783838648583
Dateigröße
2.2 MB
Sprache
Englisch
Katalognummer
v220428
Institution / Hochschule
Technische Universität Berlin – Informatik
Note
1,0
Schlagworte
robot-motion-control neuroinformatics robotik

Autor

Teilen

Zurück

Titel: Online-Learning in Humanoid Robots