Combining expert neural networks using reinforcement feedback for learning primitive grasping behavior

IEEE Transactions on Neural Networks

Volumn 15, Issue 3, 2004, Pages 629-638

  Moussa, Medhat A ^a  

^a UNIVERSITY OF GUELPH   (Canada)

Author keywords

Mixture of experts; Modular architecture; Robot grasping; Robot learning

Indexed keywords

COMPUTER SIMULATION; DATABASE SYSTEMS; FEEDBACK; GRIPPERS; LEARNING ALGORITHMS; ROBOT LEARNING;

MODULAR ARCHITECTURE; REINFORCEMENT LEARNING; ROBOT GRASPING;

NEURAL NETWORKS;

ARTICLE; ARTIFICIAL NEURAL NETWORK; FEEDBACK SYSTEM; HAND GRIP; LEARNING; METHODOLOGY; REINFORCEMENT; ROBOTICS;

FEEDBACK; HAND STRENGTH; LEARNING; NEURAL NETWORKS (COMPUTER); REINFORCEMENT (PSYCHOLOGY); ROBOTICS;

EID: 2542542096     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2004.824412     Document Type: Article

References (20)

1. A. R. Jacobs and I. M. Jordon, "Learning piecewise control strategies in a modular neural network architecture," IEEE Trans. Syst. Man Cybern., vol. 23, pp. 337-345, Mar.-Apr. 1993.
2. S. P. Luttrell, "Self-organized modular neural networks for encoding data," in Combining Artificial Neural Nets, A. J. Sharkey, Ed. London, U.K.: Springer-Verlag, 1999, pp. 235-264.
3. A. Waibel, H. Sawaii, and K. Shikano, "Modularity and scaling in large phonemic neural networks," IEEE Trans. Acoust., Speech, Signal Processing, vol. 37, pp. 1888-1898, Dec. 1989.
4. W. Baxt, "Improving the accuracy of an artificial neural network using multiple differently trained networks," Neural Computat., vol. 4, pp. 722-780, 1992.
5. R. A. Jacobs, M. I. Jordon, S. J. Nowlan, and G. E. Hinton, "Adaptive mixtures of local experts," Neural Comput., vol. 6, no. 2, pp. 79-97, 1991.
6. M. I. Jordon and R. A. Jacobs, "Hierarchical mixtures of experts and the em algorithm," Neural Comput., vol. 6, no. 2, pp. 181-124, 1994.
7. R. A. Brooks, "A robust layered control system for a mobile robot," IEEE Trans. Robot. Automat., vol. 2, pp. 14-23, Mar. 1986.
8. J. Coelho, J. Piater, and R. Grupen. Developing haptic and visual perceptual categories for reaching and grasping with a humanoid robot. presented at Proc. IEEE Humanoid 2000
9. R. S. Fearing, "Implementing a force strategy for object re-orientation," in Proc. IEEE Int. Conf. Robotics Automation, Apr. 1986, pp. 96-102.
10. Y. Matsuoka, "Primitive manipulation learning with connectionism," in Neural Information Processing Systems, M. C. M. David, S. Touretzky, and M. E. Hasselmo, Eds. Cambridge, MA: MIT Press, 1996, vol. 8, pp. 889-895.
11. P. Weir, C. L. Mackenzie, R. Marteniuk, S. L. Cargoe, and M. B. Farzer, "The effect of object weight on the kinematics of prehension," J. Motor Behavior, vol. 23, no. 3, pp. 192-204, 1991.
12. M. R. Cutkosky, "On grasp choice, grasp models, and the design of hands for manufacturing tasks," IEEE Trans. Robot. Automat., vol. 5, pp. 269-279, June 1989.
13. G. A. Bekey, H. Liu, R. Tomovic, and W. J. Karplus, "Knowledge-based control of grasping in robot hands using heuristics from human motor skills," IEEE Trans. Robot. Automat., vol. 9, pp. 709-721, Dec. 1993.
14. S. A. Stansfield, "Robotic Grasping of Unknown Objects: A Knowledge-Based Approach," Sendia Nat. Labs. Tech. Rep., 1989.
15. G. Dunn and J. Segan, "Automatic discovery of robotic grasp configuration," in Proc. IEEE Int. Conf. Robotics Automation, Apr. 1988, pp. 396-401.
16. I. Kamon, T. Flash, and S. Edelman, "Learning to grasp using visual information," in Proc. IEEE Int. Conf. Robotics Automation, Apr. 1996, pp. 2470-2476.
17. M. Kuperstein, "Infant neural controller for adaptive sensory-motor coordination," Neural Networks, vol. 4, pp. 131-145, 1991.
18. M. Tan and J. C. Schlimmer, "A cost-sensitive machine learning method for the approach and recognize task," in Toward Learning Robots. Cambridge, MA: MIT Press, 1993, pp. 31-45.
19. M. Moussa and M. Kamel, "An experimental approach to robotic grasping using a connectionist architecture and generic grasping functions," IEEE Trans. Syst., Man, Cybern., vol. 28, May 1998.
20. Y. Uno, N. Fukumura, R. Suzuki, and M. Kawato, "A computational model for recognizing objects and planning hand shapes in grasping movements," Neural Networks, vol. 8, no. 6, pp. 839-851, 1995.