NDLI: Synthesizing goal-directed actions from a library of example movements

Content Provider	IEEE Xplore Digital Library
Author	Ude, A. Riley, M. Nemec, B. Kos, A. Asfour, T. Cheng, G.
Copyright Year	2007
Description	Author affiliation: Dept. of Humanoid Robot. & Comput. Neurosci., ATR Comput. Neurosci. Labs., Seika (Cheng, G.) \|\| Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA (Riley, M.) \|\| Dept. of Automatics, Biocybernetics & Robot., Jozef Stefan Inst., Ljubljana (Ude, A.; Nemec, B.; Kos, A.) \|\| Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe, Karlsruhe (Asfour, T.)
Abstract	We present a new learning framework for synthesizing goal-directed actions from example movements. The approach is based on the memorization of training data and locally weighted regression to compute suitable movements for a large range of situations. The proposed method avoids making specific assumptions about an adequate representation of the task. Instead, we use a general representation based on fifth order splines. The data used for learning comes either from the observation of events in the Cartesian space or from the actual movement execution on the robot. Thus it informs us about the appropriate motion in the example situations. We show that by applying locally weighted regression to such data, we can generate actions having proper dynamics to solve the given task. To test the validity of the approach, we present simulation results under various conditions as well as experiments on a real robot.
Starting Page	115
Ending Page	121
File Size	1460663
Page Count	7
File Format	PDF
ISBN	9781424418619
DOI	10.1109/ICHR.2007.4813857
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer science Physics computing Laboratories Humanoid robots Hidden Markov models Data engineering Libraries Robotics and automation Cybernetics Orbital robotics
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
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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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