Proceedings ArticleDOI
Learning inverse kinematic solutions of redundant manipulators using multiple internal models
Hari Teja,Suril V. Shah +1 more
- pp 1371-1371
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TLDR
This work proposes to use multiple paired forward and inverse models approach described in the following sections, to obtain multiple IK solutions and points towards task space representation of motion in the brain.Abstract:
Biological systems are superior compared to robotic systems in their ability to adapt to new situations very quickly. Hence, it would be advantageous to take insights from the architecture of sensory-motor maps in designing controllers for robotic systems. Any movement can be represented either in task space or joint space of a given manipulator. Planning and control in task space essentially reduces the computational complexity compared to joint-space approaches due to fewer dimensions involved. Experimental evidences [1], point towards task space representation of motion in the brain. The transformation of these task space representations into joint space is however not trivial, as it forms an ill-posed problem. This constitutes the inverse kinematics (IK) problem for a given manipulator. We propose to use multiple paired forward and inverse models approach described in the following sections, to obtain multiple IK solutions.read more
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Journal ArticleDOI
Principles of Neural Science
TL;DR: The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or her own research.
References
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Journal ArticleDOI
Principles of Neural Science
TL;DR: The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or her own research.
Journal ArticleDOI
Multiple paired forward and inverse models for motor control
Daniel M. Wolpert,Mitsuo Kawato +1 more
TL;DR: A modular approach to motor learning and control based on multiple pairs of inverse (controller) and forward (predictor) models that can simultaneously learn the multiple inverse models necessary for control as well as how to select the inverse models appropriate for a given environment is proposed.
Book
Forward models: supervised learning with a distal teacher
TL;DR: This article demonstrates that certain classical problems associated with the notion of the “teacher” in supervised learning can be solved by judicious use of learned internal models as components of the adaptive system.
Journal ArticleDOI
Forward models: supervised learning with a distal teacher
TL;DR: In this paper, the authors demonstrate that certain classical problems associated with the notion of the teacher in supervised learning can be solved by judicious use of learned internal models as components of the adaptive system.
Proceedings ArticleDOI
Learning inverse kinematics
TL;DR: This paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies and demonstrates how a recently developed statistical learning algorithm, locally weighted projection regression, allows efficient learning of inverse k Cinematic mappings in an incremental fashion even when input spaces become rather high dimensional.
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