NDLI: Multiple self-organizing maps for control of a redundant manipulator in an environment with obstacles

Content Provider	IEEE Xplore Digital Library
Author	Okada, N. Jinjun Qiu Min Han Uehara, R. Kondo, E.
Copyright Year	2008
Description	Author affiliation: Dept. of Intell. Machinery & Syst., Kyushu Univ., Fukuoka (Okada, N.)
Abstract	This paper proposes multiple self-organizing maps (SOMs) for control of a visuo-motor system that consists of a redundant manipulator and multiple cameras in an unstructured environment. The maps control the manipulator so that it reaches its end-effector to targets given in the camera images. Also the maps make the manipulator take obstacle free poses. Multiple cameras are introduced to avoid occlusions and multiple SOMs are introduced to deal with multiple camera images. Using two or more SOMs may cause inconsistency among them. We, therefore, developed a new learning method of SOMs to keep the consistency. We also developed a simple collision avoidance approach by using the multiple SOMs and a simple path planning technique. Since the collision free pose is accomplished by the multiple SOMs, the path planning system only plans the end-effectorpsilas path. Simulation results will be shown. This paper proposes multiple self-organizing maps (SOMs) for control of a visuo-motor system that consists of a redundant manipulator and multiple cameras in an unstructured environment. The maps control the manipulator so that it reaches its end-effector to targets given in the camera images. Also the maps make the manipulator take obstacle free poses. Multiple cameras are introduced to avoid occlusions and multiple SOMs are introduced to deal with multiple camera images. Using two or more SOMs may cause inconsistency among them. We, therefore, developed a new learning method of SOMs to keep the consistency. We also developed a simple collision avoidance approach by using the multiple SOMs and a simple path planning technique. Since the collision free pose is accomplished by the multiple SOMs, the path planning system only plans the end-effectorpsilas path. Simulation results will be shown.
Starting Page	212
Ending Page	217
File Size	281668
Page Count	6
File Format	PDF
ISBN	9781424420223
DOI	10.1109/COASE.2008.4626540
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bridges USA Councils Automation Conferences
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
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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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