NDLI: Developing learnability — The case for reduced dimensionality

Content Provider	IEEE Xplore Digital Library
Author	Kuppuswamy, N. Harris, C.M.
Copyright Year	2013
Description	Author affiliation: Dept. of Inf., Univ. of Zurich, Zürich, Switzerland (Kuppuswamy, N.) \|\| Centre for Robot. & Neural Syst., Plymouth Univ., Plymouth, UK (Harris, C.M.)
Abstract	In this work, the notion of reduced dimensionality and its relevance for systems undergoing development is examined. The various motor control theories of degree of freedom change, optimal control, and motor primitives are related using the framework of control dimensionality reduction. Based on their relationship, we propose a developmental approach based on progressively utilising increasingly higher dimension representations of the system. A simulated planar 2 link arm model is then used to demonstrate the effect of utilising reduced dimensional models for control; comparisons on step and sinusoidal tasks are presented showing a progressive decrease in error that is task dependent quantitatively. Arguments are presented for why such a strategy might be essential from an evolutionary perspective for the developmental acquisition motor control in a tractable manner.
Starting Page	1
Ending Page	7
File Size	1479240
Page Count	7
File Format	PDF
ISBN	9781479910366
DOI	10.1109/DevLrn.2013.6652571
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motor drives Computational modeling Aerospace electronics Trajectory Mathematical model Joints Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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