期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 104, 期 -, 页码 72-84出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.robot.2018.02.015
关键词
Geometric algebra; Conformal geometric algebra; Quaternion algebra; Graphics engineering; Interpolation; Haptics; Non-linear control; Spike neural networks; Quaternion spike neural networks; Human-machine interaction; Robotics; Medical robotics
资金
- CONACYT [178222]
- CINVESTAV
- Conacyt Ph.D. scholarship of Luis-Rey Lechuga
- Conacyt Ph.D. scholarship of Marcela Garza-Burgos
In this work, by reformulating screw theory (generalization of quaternions) in the conformal geometric algebra framework, we address the interpolation, virtual reality, graphics engineering, haptics. We derive intuitive geometric equations to handle surface operations like in kidney surgery. The interpolation can handle the interpolation and dilation in 3D of points, lines, planes, circles and spheres. With this procedure, we interpolate trajectories of surgical instrument. Using quaternions, we formulate the quaternion spike neural network for control. This new neural network structure is based on Spike Neural Networks and developed using the quatemion algebra. The real valued training algorithm was extended so that it could make adjustments of the weights according to the properties and product of the quaternion algebra. In this spike neural network, we are taking into account two relevant ideas the use of Spike neural network which is the best model for oculo-motor control and the role of geometric computing. As illustration. the quaternion spike neural network is applied for control of robot manipulator. The experimental analysis shows promising possibilities for the use of this powerful geometric language to handle multiple tasks in human-machine interaction and robotics. (C) 2018 Elsevier B.V. All rights reserved.
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