By Leondes, Cornelius T

Meant for engineers, electric engineers and keep an eye on engineers, this booklet presents insurance of the most recent advances in robot platforms, from the applying of neural networks to robotics

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**Extra resources for Advances in robotic systems. Part 1 of 2**

**Example text**

Via points near the boundaries of the obstacles move much faster than the others, because the slope of the collision penalty function is steep at the boundary. Figure 29c) illustrates the trajectories of via points during convergence, while Figure 29d) shows the final collision-free path. 1) shown in Figure 30a). Figure 30b) illustrates the final path obtained by the network, which is stuck into a local minimum, because the via points initially assigned inside obstacle are placed on the flat surface of the collision penalty function, and thus do not have enough mobility to get out of the obstacle.

The method of simulated annealing [19, 37] provides such a technique of avoiding local minima, and has effectively solved many optimization problems including the traveling salesman problem. The concept of simulated annealing is something to do with thermodynamics, especially with the process of freezing and crystallizing of a liquid, or cooling and annealing of a metal. At high temperature, move freely with respect to one another. the molecules of a liquid In the process of cooling the liquid, its thermal mobility is gradually lost, but the molecules are often able to line themselves up and form a pure crystal which corresponds to the state of minimum energy.

EKE Y Figure 16: Detailed structure of inverse dynamics m o d e l , from [17]. The performance of Kawato's system is excellent. Both the inverse and forward dynamics models were acquired during typical movements. As learning continued, the inverse dynamics model gradually replaced any external feedback. T h e final system was able to generalize to control of movements quite different from those used for training. Finally, while significant knowledge is required to construct the nonlinear filters, they need not b e completely accurate.