Abstract of FKI-182-93

Document-Name:  fki-182-93.ps.gz
Title:   	A Neural Trajectory Storage
Autors: 	Margit Kinder 
                Till Brychcy  
Revision Date:  January, 1993
Category:	Technical Report (Forschungsberichte Künstliche Intelligenz)
Abstract:	We present a neural trajectory storage for manipulator
                trajectories. Trajectories will be neurally stored as a 
                sequence of discrete joint positions. Every time a trajectory 
                needs to be generated, the storage is consulted. 
                Besides being a ``classical'' retrieval system, the neural 
                network is able to generalize from stored trajectories to 
                new trajectories and thus serves as a trajectory planner.
                Its generalization abilities arise from an adequate 
                representation of free space. We recommend the use of 
                Kohonen's self-organizing feature maps to represent input 
                and output data, both data of the same free space. 
                Different to others, we do not compute the winner unit but
                instead feed the activities of all units of a Kohonen-Map into 
                the next layer.
Keywords:	neural trajectory storage; redundant manipulator; robotics; 
                self-organizing feature maps; topologically distributed 
                representations; pseudo-inverse;
Size:   	6 pages
Language:	English
ISSN:   	0941-6358
Copyright:      The ``Forschungsberichte Künstliche Intelligenz''
                series includes primarily preliminary publications,
                specialized partial results, and supplementary
                material. In the interest of a subsequent final
                publication these reports should not be copied. All
                rights and the responsability for the contents of the
                report are with the authors, which would appreciate
                critical comments.




Gerhard Weiss