摘要
机器人对操作技能的自主学习是未来机器人服务人类社会所需具备的重要技能之一,也是机器人研究领域的热点问题之一。对目前机器人操作技能学习的主流模式、方式、算法以及不同方法的优缺点做了全面综述,归纳了在未来知识共享模式下个体机器人实现操作技能的自主学习所面临的挑战和亟待解决的关键问题,并介绍了一种将机器人个体学习模式与共享学习模式有机结合提升机器人操作技能的自主认知与学习的潜在解决方案。
Autonomous cognition and learning of manipulation skills, being one of the most important skills for robots, has been one of the hot issues in the field of robotics research. Combining with the authors? work in the field of robotics, this paper?s focus is placed on giving a comprehensive overview of the mainstream modes, methods, algorithms, as well as advantages and disadvantages of different methods in terms of robots? manipulation skill learning. It concludes the challenges faced by autonomous learning and the key issues that need to be addressed for the individual cloud robots learning manipulation skills in the knowledge sharing mode. At the end, a potential solution for the above issues is given, and that is to integrate individual learning mode and shared learning model for the purpose of enhancing autonomous cognition and learning ability for robots.
作者
王薇
吴锋
周风余
WANG Wei;WU Feng;ZHOU Fengyu(School of Computer Science and Technology,Qilu University of Technology,Jinan 250353,Shandong,China;School of Computer Science and Technology,University of Science and Technology of China,Hefei 230026,Anhui,China;School of Control and Engineering,Shandong University,Jinan 250061,Shandong,China)
出处
《山东大学学报（工学版）》
CAS
CSCD
北大核心
2019年第6期11-24,共14页
Journal of Shandong University（Engineering Science）
基金
国家重点研发计划项目(2017YFB1302400)
国家自然科学基金资助项目(61773242,61802213)
山东省重大科技创新工程项目(2017CXGC0926)
山东省重点研发计划(公益类专项)项目(2017GGX30133)
关键词
云机器人
共享知识型机器人
操作技能
自主学习
自主认知
cloud robot
knowledge-sharing robot
manipulation skills
autonomous learning
autonomous cognition
