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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jockel, S. Lindner, F. Jianwei Zhang |
| Copyright Year | 2009 |
| Description | Author affiliation: CINACS Int. Research Training Group & Technical Aspects of Multimodal Systems, Department of Informatics, University of Hamburg, Vogt-Kölln-Straße 30, 22527, Germany (Jockel, S.; Lindner, F.; Jianwei Zhang) |
| Abstract | Sparse distributed memory (SDM) is a mathematical technique based on the properties of high-dimensional space for storing and retrieving large binary patterns. This model has been proposed for cerebellar functions, and has been used in simple visual and linguistic applications to date. This paper presents an SDM for robotic applications, especially for storing and recognising mobile manipulation actions of a 6-DOF robot arm. Sequences of events are stored as subjective experiences and are later used to guide robot arm behaviour based on its memory content. Several simple manipulation tasks, such as lift and place a wastebin from and on the floor, push an object aside on a table-top, and draw shapes in the air are analysed under different operation modes. The robot system shows good reproduction abilities of task-dependent arm trajectories based on sparse distributed memory. Moreover, the content-addressable, associative memory even predicts the residual arm trajectory of a task if the arm is placed somewhere close to a learnt trajectory. |
| Starting Page | 1298 |
| Ending Page | 1303 |
| File Size | 785949 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913187 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Humans Orbital robotics Mobile robots Cognitive robotics Associative memory Trajectory Robot sensing systems Navigation Biomimetics Informatics motion prediction Sparse distributed memory cognition service robotics mobile manipulation sensorimotor learning associative memory |
| Content Type | Text |
| Resource Type | Article |
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