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Tailoring robot actions to task contexts using action models [Elektronische Ressource] / Freek Stulp

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192 Pages
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dd d dInstitut für Informatikd d d dd dd d dd d d d der Technischen Universität Münchend d dTailoring Robot Actions to TaskContexts using Action ModelsDissertationFreek StulpInstitut für Informatikder Technischen Universität MünchenTailoring Robot Actions to Task Contexts using Action ModelsFreek StulpVollständiger Abdruck der von der Fakultät für Informatik der Technischen UniversitätMünchen zur Erlangung des akademischen Grades einesDoktors der Naturwissenschaften (Dr. rer. nat.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Nassir Navab, Ph.D.Prüfer der Dissertation:1. Univ.-Prof. Michael Beetz, Ph.D.2. Univ.-Prof. Dr. Alois KnollDie Dissertation wurde am 04.04.2007 bei der Technischen Universität München eingereichtund durch die Fakultät für Informatik am 02.10.2007 angenommen.AbstractIn motor control, high-level goals must be expressed in terms of low-level motor commands.An effective approach to bridge this gap, widespread in both nature and robotics, is to acquirea set of temporally extended actions, each designed for specific goals and task contexts. An ac-tion selection module then selects the appropriate action in a given situation. In this approach,high-level goals are mapped to actions, and actions produce streams of motor commands. Thefirst mapping is often ambiguous, as several actions or action parameterizations can achievethe same goal.

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Published 01 January 2007
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Language English
Document size 4 MB

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