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Exploiting Vestibular Output during Learning Results in Naturally Curved Reaching Trajectories

Sun, Ganghua and Scassellati, Brian (2005) Exploiting Vestibular Output during Learning Results in Naturally Curved Reaching Trajectories. [Conference Paper]

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Abstract

Teaching a humanoid robot to reach for a visual target is a complex problem in part because of the high dimensionality of the control space. In this paper, we demonstrate a biologically plausible simplification of the reaching process that replaces the degrees of freedom in the neck of the robot with sensory readings from a vestibular system. We show that this simplification introduces errors that are easily overcome by a standard learning algorithm. Furthermore, the errors that are necessarily introduced by this simplification result in reaching trajectories that are curved in the same way as human reaching trajectories.

Item Type:Conference Paper
Keywords:vestibular system, Nico humanoid robot, reaching trajectory, radial basis function network, degrees-of-freedom problem, developmental robot
Subjects:Computer Science > Machine Learning
Computer Science > Artificial Intelligence
Computer Science > Robotics
ID Code:4967
Deposited By:Prince, Dr Christopher G.
Deposited On:23 Jul 2006
Last Modified:11 Mar 2011 08:56

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