Knowledge Commons of Institute of Automation,CAS
Adding Active Learning to LWR for Ping-Pong Playing Robot | |
Huang, Yanlong1; Xu, De2; Tan, Min1; Su, Hu1 | |
发表期刊 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY |
2013-07-01 | |
卷号 | 21期号:4页码:1489-1494 |
文章类型 | Article |
摘要 | In this brief, we consider the problem of controlling the racket attached to the ping-pong playing robot, so that the incoming ball is returned to a desired position. The maps that are used to calculate the racket's initial parameters are described. They are implemented with the locally weighted regression (LWR). An active learning approach based on the fuzzy cerebellar model articulation controller (FCMAC) is proposed, and then it is added to the LWR, which is regarded as lazy learning. A learning algorithm that is used for updating the experience data in the fuzzy CMAC according to the errors between the actual and desired landing positions is presented. A series of experiments has been performed to demonstrate the applicability of the proposed method. |
关键词 | Active Learning Fuzzy Cerebellar Model Articulation Controller (Fcmac) Lazy Learning Locally Weighted Regression (Lwr) Ping-pong Playing Robot |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | TABLE-TENNIS ; CONTROLLER ; PLAYER |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000320717600044 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/3473 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Huang, Yanlong,Xu, De,Tan, Min,et al. Adding Active Learning to LWR for Ping-Pong Playing Robot[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2013,21(4):1489-1494. |
APA | Huang, Yanlong,Xu, De,Tan, Min,&Su, Hu.(2013).Adding Active Learning to LWR for Ping-Pong Playing Robot.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,21(4),1489-1494. |
MLA | Huang, Yanlong,et al."Adding Active Learning to LWR for Ping-Pong Playing Robot".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 21.4(2013):1489-1494. |
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Adding Active Learni(414KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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