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Title:Learning Nullspace Policies
Authors: Christopher Towell ; Matthew Howard ; Sethu Vijayakumar
Date:Oct 2010
Publication Title:The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan
Publisher:IEEE
Publication Type:Conference Paper Publication Status:Published
DOI:10.1109/IROS.2010.5650663 ISBN/ISSN:2153-0858
Abstract:
Many everyday tasks performed by people, such as reaching, pointing or drawing, resolve redundant degrees of freedom in the arm in a similar way. In this paper we present a novel method for learning the strategy used to resolve redundancy by exploiting the variability in multiple observations of different tasks. We demonstrate the effectiveness of this method on three simulated plants: a toy example, a three link planar arm, and the KUKA lightweight arm.
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Bibtex format
@InProceedings{EDI-INF-RR-1402,
author = { Christopher Towell and Matthew Howard and Sethu Vijayakumar },
title = {Learning Nullspace Policies},
book title = {The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan},
publisher = {IEEE},
year = 2010,
month = {Oct},
doi = {10.1109/IROS.2010.5650663},
url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5650663},
}


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