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A model-based approach to robot kinematics and control using discrete factor graphs with belief propagation

Sugiarto, Indar and Conradt, Jorg (2017) A model-based approach to robot kinematics and control using discrete factor graphs with belief propagation. [UNSPECIFIED]

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      Abstract

      Much of recent researches in robotics have shifted the focus from traditionally-specific industrial tasks to investigations of new types of robots with alternative ways of controlling them. In this paper, we describe the development of a generic method based on factor graphs to model robot kinematics. We focused on the kinematics aspect of robot control because it provides a fast and systematic solution for the robot agent to move in a dynamic environment. We developed neurally-inspired factor graph models that can be applied on two different robotic systems: a mobile platform and a robotic arm. We also demonstrated that we can extend the static model of the robotic arm into a dynamic model useful for imitating natural movements of a human hand. We tested our methods in a simulation environment as well as in scenarios involving real robots. The experimental results proved the flexibility of our proposed methods in terms of remodeling and learning, which enabled the modeled robot to perform reliably during the execution of given tasks.

      Item Type: UNSPECIFIED
      Additional Information: Ada yang salah dengan software plagiarism check-nya, karena paper-nya di compare dengan paper yang sama (tapi beda source).
      Uncontrolled Keywords: Model-based approach, Factor graph, Robot kinematics
      Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
      Divisions: Faculty of Industrial Technology > Electrical Engineering Department
      Depositing User: Admin
      Date Deposited: 15 Feb 2018 19:10
      Last Modified: 30 Jul 2020 07:42
      URI: http://repository.petra.ac.id/id/eprint/18600

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