NDLI: A study toward cognitive action with environment recognition by a learning space robot

Content Provider	IEEE Xplore Digital Library
Author	Senda, K. Matsumoto, T. Okano, Y.
Copyright Year	2003
Description	Author affiliation: Dept. of Mechanical Syst. Eng., Kanazawa Univ., Japan (Senda, K.)
Abstract	This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model is composed of two manipulators and a satellite vehicle, and can move freely on a two-dimensional planar table, without friction, using air-bearings. The robot model has successfully performed the automatic truss structure assembly, including many jobs, e.g., manipulator berthing, component manipulation, arm trajectory control collision avoidance, assembly using force control, etc. Moreover, even if the robot fails in a task planned in advance, the robot re-plans the task by using reinforcement learning, and obtains the task goal for basically kinematic problems. But, for a class of complicated dynamic problems, the computational periods and efforts are infeasible for on-line learning. Some approaches are proposed to accelerate the learning speed, which also give models of cognitive actions and approaches to so-called a frame problem. The experiment demonstrates the possibility of the autonomous construction and the usefulness of space robots.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	797
Ending Page	802
File Size	509529
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241691
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cognitive robotics Orbital robotics Robot sensing systems Robotics and automation Robotic assembly Manipulators Force control Computational modeling Robot vision systems Computer vision
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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