VVV09 Kinematic, my friend

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VVV09 Kinematic, my friend.

The aim subject is the learning of the forward kinematic model.

Why learn the model, we already have an analytic method ? - A human like approach. - To validate the feasibility of such kind of learning.

Why the forward model ? - To keep all the information of the forward model (i.e infinity of pseudo-inverse, null space computation).

Why the kinematic ? - Because the geometric model is not easily invertible.

What kind of algorithm is using ? - LWPR, (Locally Weighted Projection Regression) [Vijayakumar 2005]. A powerfull online learning algorithm based on multiple linear regression computation in the space the most adapted (PLS).

What are the results ? - The model is learned and use "successfully" on the robot.

What about the "keep all the information" ? - With the model learned we are able to control two end effector with a priority on one of the two.

So, what did you do here ? - I tried to learn the model ... without the model ... -> Vision.

And ? - I have learn the model by attended motor babbling (As we play with the "end effector of a Baby"). - I "wanted" to be able to track two objects (my end effector and another object ... But it is apparently not so easy :p) in order to complete the learning of the model still as if we were playing with a child.