Difference between revisions of "Projects vvv2014"

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(Incremental Learning applications on iCub using the GURLS++ package)
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== Incremental Learning applications on iCub using the GURLS++ package ==
 
== Incremental Learning applications on iCub using the GURLS++ package ==
 
''People: Raffaello''
 
  
 
The main goals of the project are the following:
 
The main goals of the project are the following:
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* The GURLS++ package (see http://lcsl.github.io/GURLS/index.html)
 
* The GURLS++ package (see http://lcsl.github.io/GURLS/index.html)
 
* Previous work on non-parametric learning of the inverse dynamics of the iCub arm by Arjan Gijsberts (see http://www.iit.it/images/images/icub-facility/docs/theses/gijsberts.pdf)
 
* Previous work on non-parametric learning of the inverse dynamics of the iCub arm by Arjan Gijsberts (see http://www.iit.it/images/images/icub-facility/docs/theses/gijsberts.pdf)
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== Optimal control for COM motion ==
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People involved: Yue, thanks to Francesco for the idea, Silvio and Daniele for the dynamics explanation and help
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The project is about task 1.10. The objective is to use optimal control to generate optimized reference control inputs (torques) for the iCub robot such that it performs some motion at the COM (like swing left right and keep balancing).
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To reach the goal forward dynamics is needed and a simple version with the Whole Body Interface is developed.
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<br />
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The optimal control problem is solved with the softwre package [http://www.iwr.uni-heidelberg.de/~agbock/RESEARCH/muscod.php MUSCOD-II] of University of Heidelberg.

Revision as of 09:22, 26 July 2014

Please populate this page with the name of the project, the name of the people that participate in the project and a short description of what the project aims to do and what individual people are planning to do within the group. A group can be made by an individual person or more.

It is important that everybody works towards something, no matter how simple or complex.

Wysiwyd

People:

  • Stephane: sensorimotor contingencies using SOMs that match other SOMs
  • ...
  • ...

Goal of the project:

...

Exploration of tools and objects affordances (in the context of Poeticon++)

People: Afonso, Lorenzo, Tanis, Vadim

Goal: Perform a set of actions on objects using tools, recording visual descriptors of tools, objects, and effects of the action.

Incremental Learning applications on iCub using the GURLS++ package

The main goals of the project are the following:

  1. Implement a numerically stable incremental RLS update rule (cholupdate) in the GURLS++ framework. The functionality has already been tested in MATLAB, replicating the work by Gijsberts et al.: ‘Incremental Learning of Robot Dynamics using Random Features’
  2. Design and develop a simple prototypical YARP module to serve as an interface with the robot
  3. Run an on-line inverse dynamics learner on the real robot


Resources:

Optimal control for COM motion

People involved: Yue, thanks to Francesco for the idea, Silvio and Daniele for the dynamics explanation and help

The project is about task 1.10. The objective is to use optimal control to generate optimized reference control inputs (torques) for the iCub robot such that it performs some motion at the COM (like swing left right and keep balancing). To reach the goal forward dynamics is needed and a simple version with the Whole Body Interface is developed.
The optimal control problem is solved with the softwre package MUSCOD-II of University of Heidelberg.