Sm. Prabhu et Dp. Garg, ARTIFICIAL NEURAL-NETWORK-BASED ROBOT CONTROL - AN OVERVIEW, Journal of intelligent & robotic systems, 15(4), 1996, pp. 333-365
Citations number
135
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
The current thrust of research in robotics is to build robots which ca
n operate in dynamic and/or partially known environments. The ability
of learning endows the robot with a form of autonomous intelligence to
handle such situations. This paper focuses on the intersection of the
fields of robot control and learning methods as represented by artifi
cial neural networks. An in-depth overview of the application of neura
l networks to the problem of robot control is presented. Some typical
neural network architectures are discussed first. The important issues
involved in the study of robotics are then highlighted. This paper co
ncentrates on the neural network applications to the motion control of
robots involved in both non-contact and contact tasks. The current st
ate of research in this area is surveyed and the strengths and weaknes
s of the present approaches are emphasized The paper concludes by inde
ntifying areas which need future research work.