VVV09 Kinematic, my friend
From Wiki for iCub and Friends
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 model (i.e infinity of pseudo-inverse of the Jacobian, 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 uses "successfully" on the robot.
What about the "keep all the information" ?
- With the learned model we are able to control two end-effectors with a priority on one of them.
So, what did you do here ?
- I tried to learn the model ... without the model but with the vision.
And ?
- I have learned 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.
