Learning Nullspace Policies

Christopher Towell, Matthew Howard, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Many everyday tasks performed by people, such as reaching, pointing or drawing, resolve redundant degrees of freedom in the arm in a similar way. In this paper we present a novel method for learning the strategy used to resolve redundancy by exploiting the variability in multiple observations of different tasks. We demonstrate the effectiveness of this method on three simulated plants: a toy example, a three link planar arm, and the KUKA lightweight arm.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)
Place of PublicationNEW YORK
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages-
Number of pages8
ISBN (Print)978-1-4244-6675-7
Publication statusPublished - 2010
EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Taipei
Duration: 18 Oct 201022 Oct 2010

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
CityTaipei
Period18/10/1022/10/10

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