Learning Nullspace Policies
Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010).
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Many everyday tasks performed by people, such as reaching, pointing or drawing, resolve redundant degrees of freedom in the arm in a similar way. In this paper we present a novel method for learning the strategy used to resolve redundancy by exploiting the variability in multiple observations of different tasks.We demonstrate the effectiveness of this method on three simulated plants: a toy example, a three link planar arm, and the KUKA lightweight arm.