NDLI: An efficiently trainable neural network based vision-guided robot arm

Content Provider	IEEE Xplore Digital Library
Author	Cooperstock, J.R. Milios, E.E.
Copyright Year	1993
Description	Author affiliation: Dept. of Electr. Eng., Toronto Univ., Ont., Canada (Cooperstock, J.R.)
Abstract	A robotic system using simple visual processing and controlled by neural networks is constructed and tested. The robot performs docking and target reaching without prior geometric calibration of its components. All effects of control signals on the robot are learned by the controller through visual observation during a training period and refined during actual operation. This method avoids computation of the inverse perspective projection and robot arm inverse kinematic transformations. This approach features small, efficiently trainable neural networks which exhibit sufficiently accurate performance for the authors' reaching tasks. Their design confirms that successful arm control can be achieved without calculating the camera baseline parameters explicitly. Rather than recalibrating the system off-line following a minor change to its configuration, it is possible for the robot to adapt to the new mappings on-line.
Starting Page	738
Ending Page	743
File Size	540797
Page Count	6
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.291946
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Neural networks Robot vision systems Cameras Robot sensing systems Kinematics Control systems Orbital robotics Robot control Equations Calibration
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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