Embodiment and Manipulation Learning Process for a Humanoid Hand

dc.creator	Matsuoka, Yoky
dc.date	2004-10-20T20:27:54Z
dc.date	2004-10-20T20:27:54Z
dc.date	1995-05-01
dc.date.accessioned	2013-10-09T02:48:09Z
dc.date.available	2013-10-09T02:48:09Z
dc.date.issued	2013-10-09
dc.identifier	AITR-1546
dc.identifier	http://hdl.handle.net/1721.1/7064
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their surroundings. This thesis explores the development of such primitive learning systems using an embodied light-weight hand with three fingers and a thumb. It is self-contained having four motors and 36 exteroceptor and proprioceptor sensors controlled by an on-palm microcontroller. Primitive manipulation is learned from sensory inputs using competitive learning, back-propagation algorithm and reinforcement learning strategies. This hand will be used for a humanoid being developed at the MIT Artificial Intelligence Laboratory.
dc.format	9161027 bytes
dc.format	7404933 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AITR-1546
dc.title	Embodiment and Manipulation Learning Process for a Humanoid Hand

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