[특허]Method for neural network control of motion using real-time environmental feedback

Method for neural network control of motion using real-time environmental feedback 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-015/18
출원번호	US-0307388 (1994-09-15)
발명자 / 주소	Buckley Theresa M. (424 Homer Ave. Palo Alto CA 94301)
인용정보	피인용 횟수 : 147 인용 특허 : 0

초록 ▼

A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

대표청구항 ▼

A method for neural network control of a time-varying process, said time-varying process having an input variable capable of affecting an operating state of said time-varying process and an output variable indicative of said operating state of said time-varying process, said method comprising the steps of: a) training a neural network controller by the steps of: i) simulating said time-varying process and recording said input variable as a function of time and recording said output variable as a function of time to create a data set, said data set including input variable data and output variable data as a function of time; ii) creating a training set from said data set by dividing said data set into increments of time and shifting the output variable data out of phase with the input variable data so that the output variable data lag at least one time increment behind the input variable data; and iii) presenting said training set to said neural network controller so that said neural network controller learns a correlating relationship between said output variable and said input variable based on said training set; b) subsequently controlling said time-varying process by the steps of: j) receiving said output variable from said time-varying process as a feedback signal in said neural network controller; jj) creating a control signal based on said feedback signal in accordance with said correlating relationship learned by said neural network controller from said training set; and jjj) receiving said control signal from said neural network controller as the input variable of said time-varying process.

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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
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Method for neural network control of motion using real-time environmental feedback 원문보기

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Method for neural network control of motion using real-time environmental feedback 원문보기

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