Learning Nullspace Policies

Chris Towell, Matthew Howard, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference paper

19 Citations (Scopus)


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.
Original languageEnglish
Title of host publication2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages8
ISBN (Print)978-1-4244-6674-0
Publication statusPublished - 2010


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