TCB Publications - Abstract

Michael Zeller, Rajeev Sharma, and Klaus Schulten. Topology representing network for sensor-based robot motion planning. In Proceedings of the 1996 World Congress on Neural Networks, pp. 100-103. INNS Press, 1996.

ZELL96 We present a framework for sensor-based motion planning of robotic manipulators using a topology representing network (TRN). Exploiting the perfectly topology preserving features of the network, the algorithm learns the representation of the Perceptual Control Manifold (PCM), a recently introduced concept for motion planning. This concept allows sensors to be integrated into robot motion planning. Besides a demonstration of the technical feasibility of motion planning through perfectly topology preserving maps the capabilities of this approach within an engineering framework, namely the implementation on a pneumatically driven robot arm (SoftArm), are demonstrated.

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