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Teaching a Robot with Human Natural Movements

  • Giovanni Magenes
  • Emanuele Secco
Conference paper
Part of the CISM Courses and Lectures book series (CISM, volume 473)

Abstract

A human inspired sensorimotor approach to robotic systems could solve the problem of designing adaptive and learning robot for widely versatile tasks. We present a neural network controller for driving a 3 degree of freedom mechanical robotic finger to a desired position in space. The controller has been taught with human movements of the corresponding finger. At the end of the training process, it was able to closely imitate the physiological control and the motion planning strategy of the human beings. Generalization properties are shown after the training process (that is the capacity to move the device in different directions and places never seen during the teaching phase). The approach seems promising for controlling artificial prosthetic and robotic upper limbs in general.

Keywords

Kinematic Model Humanoid Robot Multi Layer Perceptron Real Movement Natural Movement 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 2004

Authors and Affiliations

  • Giovanni Magenes
    • 1
  • Emanuele Secco
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversity of PaviaPaviaItaly

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