Real-time statistical learning for robotics and human augmentation

S. Schaal, S. Vijayakumar, A. D'Souza, A. Ijspeert, J. Nakanishi

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

Abstract

Real-time modeling of complex nonlinear dynamic processes has become increasingly important in various areas of robotics and human augmentation. To address such problems, we have been developing special statistical learning methods that meet the demands of on-line learning, in particular the need for low computational complexity, rapid learning, and scalability to high-dimensional spaces. In this paper, we introduce a novel algorithm that
possesses all the necessary properties by combining methods from probabilistic and nonparametric learning. We demonstrate the applicability of our methods for three different applications in humanoid robotics, i.e., the on-line learning of a full-body inverse dynamics model, an inverse kinematics model, and imitation learning. The latter application will also introduce a novel method to shape attractor landscapes of dynamical system by means of statistical learning.
Original languageEnglish
Title of host publicationProc. Tenth International Symposium on Robotics Research (ISRR)
Pages117-124
Number of pages8
Publication statusPublished - 2001

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