Now showing items 1-5 of 5
Optimal Feedback Control for Anthropomorphic Manipulators
We study target reaching tasks of redundant anthropomorphic manipulators under the premise of minimal energy consumption and compliance during motion. We formulate this motor control problem in the framework of ...
Efficient Learning and Feature Selection in High Dimensional Regression
(MIT Press, 2010)
We present a novel algorithm for efficient learning and feature selection in high-dimensional regression problems. We arrive at this model through a modification of the standard regression model, enabling us to derive a ...
Active Estimation of Object Dynamics Parameters with Tactile Sensors
The estimation of parameters that affect the dynamics of objects—such as viscosity or internal degrees of freedom—is an important step in autonomous and dexterous robotic manipulation of objects. However, accurate and ...
Using Dimensionality Reduction to Exploit Constraints in Reinforcement Learning
Reinforcement learning in the high-dimensional, continuous spaces typical in robotics, remains a challenging problem. To overcome this challenge, a popular approach has been to use demonstrations to find an appropriate ...
Adaptive Optimal Feedback Control with Learned Internal Dynamics Models
Optimal Feedback Control (OFC) has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. Recent developments, such as the Iterative Linear Quadratic ...