creators_name: Sun, Ganghua
creators_name: Scassellati, Brian
editors_name: Berthouze, Luc
editors_name: Kaplan, Frédéric
editors_name: Kozima, Hideki
editors_name: Yano, Hiroyuki
editors_name: Konczak, Jürgen
editors_name: Metta, Giorgio
editors_name: Nadel, Jacqueline
editors_name: Sandini, Giulio
editors_name: Stojanov, Georgi
editors_name: Balkenius, Christian
type: confpaper
datestamp: 2006-07-23
lastmod: 2011-03-11 08:56:29
metadata_visibility: show
title: Exploiting Vestibular Output during Learning
Results in Naturally Curved Reaching Trajectories
ispublished: pub
subjects: comp-sci-mach-learn
subjects: comp-sci-art-intel
subjects: comp-sci-robot
full_text_status: public
keywords: vestibular system, Nico humanoid robot, reaching trajectory, radial basis function network, degrees-of-freedom problem, developmental robot
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.
date: 2005
date_type: published
volume: 123
publisher: Lund University Cognitive Studies
pagerange: 71-77
refereed: TRUE
citation:   Sun, Ganghua and Scassellati, Brian  (2005) Exploiting Vestibular Output during Learning Results in Naturally Curved Reaching Trajectories.  [Conference Paper]     
document_url: http://cogprints.org/4967/1/sun.pdf