"4967","Exploiting Vestibular Output during Learning Results in Naturally Curved Reaching Trajectories","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.","http://cogprints.org/4967/","Sun, Ganghua and Scassellati, Brian","Berthouze, Luc and Kaplan, Frédéric and Kozima, Hideki and Yano, Hiroyuki and Konczak, Jürgen and Metta, Giorgio and Nadel, Jacqueline and Sandini, Giulio and Stojanov, Georgi and Balkenius, Christian"," Sun, Ganghua and Scassellati, Brian (2005) Exploiting Vestibular Output during Learning Results in Naturally Curved Reaching Trajectories. [Conference Paper] ","","2005"