Towards Robotic Manipulator Grammatical Control
Aboubekeur Hamdi‐Cherif · Sciyo eBooks · 2010
We have described the foundational steps integrating robotic manipulator control and formal languages. More specifically, this research work reports some features of grammatical inference approach as applied to robotic manipulator control. As such, this research represents an early contribution towards an objective evaluation and a basic study of the effectiveness and usefulness of grammatical inference as applied to robotic manipulator control. Grammars and languages are used as supervising entities within control of robotic manipulators. A unification of the diversified works dealing with robotic manipulators, while concentrating on formal grammars as an alternative control method, is therefore made possible. The fundamental constraints of the proposed method is that it requires a choice of an appropriate quantification for the feature space. This choice has a direct impact on the size of the alphabets and the dimension and complexity of the grammars to be inferred. Like any machine learning method, the proposed procedure also requires a diversified coverage of the working domain during the learning stage to obtain rich generalization properties. As a consequence, the results report only some aspects of the overall issue, since these describe only the case of a small class of learnable languages. Much work is still required on both sides, i.e., robotics and formal languages, for the development of fully-integrated systems that meet the challenges of efficient real-life applications.