Automatically assigned DDC number: 00631

Manually assigned DDC number: 00631

Number of references: 16

Title: Learning Control of Complex Skills

Author:

Subject: Lara Sidonie Crawford Learning Control of Complex Skills

Description: Learning Control of Complex Skills by Lara Sidonie Crawford Doctor of Philosophy in Biophysics University of California at Berkeley Professor S. Shankar Sastry, Chair This dissertation presents a hierarchical controller which can learn to perform complex motor skills. Humans routinely coordinate many degrees of freedom smoothly and effortlessly to achieve complex goals. Moreover, we are good at learning new patterns of coordination to produce new skills. Robots and artificial systems, on the other hand, typically have difficulty with the kinds of behaviors that come most naturally to us. Skills such as running, skiing, playing basketball, or diving involve complex nonlinear dynamics, many degrees of freedom, and behavioral goals that can be difficult to specify mathematically; goals such as "ski down the mountain without falling down" or "shoot a layup" must be translated from linguistic requirements into dynamic system constraints. The focus in this dissertation will be on the skill...

Contributor: The Pennsylvania State University CiteSeer Archives

Publisher: unknown

Date: 1998-09-11

Pubyear: 1998

Format: ps

Identifier: http://citeseer.ist.psu.edu/197776.html

Source: http://robotics.eecs.berkeley.edu/~lara/Papers/thesis.ps.gz

Language: en

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