한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국지능시스템학회 2007년도 추계학술대회 학술발표 논문집
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- Pages.159-162
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- 2007
신경회로망을 이용한 3관절 로봇 손가락의 역기구학
Inverse Kinematics of Robot Fingers with Three Joints Using Neural Network
초록
The inverse kinematics problem in robotics is an essential work for grasping and manipulation tasks by robotic and humanoid hands. In this paper, an intelligent neural learning scheme for solving such inverse kinematics of humanoid fingers is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.