An Adaptive Neural Network Learning-based Solution for the Inverse Kinematics of Humanoid Fingers:

International Journal of Advanced Robotic Systems

Byoung-HoKim¹ 

关键词: Adaptive Neural Network Learning;    Inverse Kinematics;    Humanoid Fingers;   

DOI  :  10.5772/57472

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper presents an adaptive neural network learning-based solution for the inverse kinematics of humanoid fingers. For the purpose, we specify an effective finger model by considering the interphalangeal joint coordination inherent in human fingers. In order to find a proper joint combination for any fingertip trajectory, we propose an adaptive learning scheme by using a multi-layered neural network. It is interesting to use an adaptive learning rate algorithm that leads the neural network to get the inverse kinematic solution quickly. The usefulness of the proposed approach is verified by exemplary simulations for the general motion of humanoid fingers.

【 授权许可】

CC BY