Neural Learning of Stable Dynamical Systems based on Extreme Learning Machine
文献类型：会议论文
| 作者 | Jianbing Hu; Zining Yang; Zhiyang Wang; Xinyu Wu; Yongsheng Ou |
| 出版日期 | 2015 |
| 会议名称 | IEEE International Conference on Information and Automation |
| 会议地点 | Lijiang |
| 英文摘要 | This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations. We solve the corresponding optimization problem using nonlinear programming and evaluate it on an available data set and a real robot. Combined with the generalization capacities of extreme learning machine, the results show that the human movement strategies within demonstrations can be generalized well. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6777]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2015 |
| 推荐引用方式 GB/T 7714 | Jianbing Hu,Zining Yang,Zhiyang Wang,et al. Neural Learning of Stable Dynamical Systems based on Extreme Learning Machine[C]. 见:IEEE International Conference on Information and Automation. Lijiang. |
入库方式： OAI收割
来源：深圳先进技术研究院
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