Learning null space projections

Hsiu Chin Lin, Matthew Howard, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

22 Citations (Scopus)

Abstract

Many everyday human skills can be considered in terms of performing some task subject to a set of self-imposed or environmental constraints. In recent years, a number of new tools have become available in the learning and robotics community that allow data from constrained and/or redundant systems to be used to uncover underlying consistent behaviours that may be otherwise masked by the constraints. However, while a wide variety of work for generalisation of movements have been proposed, few have explicitly considered learning the constraints of the motion and ways to cope with unknown environment. In this paper, we propose a method to learn the constraints such that some previously learnt behaviours can be adapted to new environment in an appropriate way. In particular, we consider learning the null space projection matrix of a kinematically constrained system, and see how previously learnt policies can be adapted to novel constraints.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2613-2619
Number of pages7
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 29 Jun 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/201530/05/2015

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