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A general closed-loop framework for multi-dimensional sequence processing
Ding QC(丁其川); Zhao XG(赵新刚); Han JD(韩建达)
作者部门机器人学研究室
会议名称12th International Conference on Intelligent Autonomous Systems, IAS 2012
会议日期June 26-29, 2012
会议地点Jeju Island, Korea, Republic of
会议录名称Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
出版者Springer Verlag
出版地Heidelberg, Germany
2012
页码311-321
收录类别EI ; CPCI(ISTP)
EI收录号20130515952993
WOS记录号WOS:000313768300030
产权排序1
ISSN号2194-5357
ISBN号978-3-642-33931-8
关键词Inverse Kinematics State Space Methods
摘要A novel closed-loop framework for multidimensional sequence processing is proposed in this paper. Traditional sequence-driven models are always forward, so no information is feedback to correct their outputs, which may deviate from the true values gradually due to the estimation error accumulating. To overcome the problem, the multidimensional vector in the input sequence is divided into two vectors based on its data attribute. One vector sequence generated from the original input sequence is considered as the new input sequence, and the other is considered as the measurement output sequence. The original output sequence is treated as the state sequence. Then, a closed-loop model in the state-space form is constructed, with which the states can be estimated online by filtering algorithms. The feasibility of the proposed framework has been verified by using the robot inverse kinematics. © 2013 Springer-Verlag.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10504
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School, Chinese Academy of Sciences, Beijing 430081, China
推荐引用方式
GB/T 7714
Ding QC,Zhao XG,Han JD. A general closed-loop framework for multi-dimensional sequence processing[C]. Heidelberg, Germany:Springer Verlag,2012:311-321.
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