Learning Whole Upper Body Control with Dynamic Redundancy Resolution in Coupled Associative Radial Basis Function Networks

type: 

Conference Presentation

Speaker(s) : Andre Lemme (stand-in for Felix Reinhart)

Event : IEEE/RSJ International Conference on Intelligent Robots and Systems

Place : Vilamoura, Algarve, Portugal

Date and Time : 08/10/2012, 5:45 pm


Abstract : The talk presents a dynamical system approach to learning forward
and inverse kinematics of a humanoid upper body in associative radial basis
function networks. Coupling of arm kinematics via the torso joints is modeled
by dynamically coupling two networks learning the direct inverse kinematics
of both torso-arm chains separately. Redundancies of the inverse kinematics
are represented by multi-stable dynamics of the associative networks and are
resolved dynamically depending on initial conditions.

Partners : Bielefeld University - CoR-Lab

main_leader: 

Felix Reinhart

Date-period: 

08/10/2012, 5:45 pm

place: 

Vilamoura, Algarve, Portugal

type_of_audience: 

Scientific Community

size_of_audience: 

30

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