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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)
Department机器人学研究室
Conference Name12th International Conference on Intelligent Autonomous Systems, IAS 2012
Conference DateJune 26-29, 2012
Conference PlaceJeju Island, Korea, Republic of
Source PublicationIntelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PublisherSpringer Verlag
Publication PlaceHeidelberg, Germany
2012
Pages311-321
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130515952993
WOS IDWOS:000313768300030
Contribution Rank1
ISSN2194-5357
ISBN978-3-642-33931-8
KeywordInverse Kinematics State Space Methods
AbstractA 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.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10504
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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