Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal  Home/Search
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Abstract: Real-time control of the ende#ector of a humanoid robot in external coordinates requires computationally e#cient solutions of the inverse kinematics problem. In this context, this paper investigates learning of inverse kinematics for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning approach is based on the key observations that learning an inverse of a non uniquely invertible function can be accomplished by augmenting the... (Update)
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BibTeX entry: (Update)
@misc{ d'souza-learning,
author = "Aaron D'Souza and Sethu Vijayakumar and Stefan Schaal",
title = "Learning Inverse Kinematics",
url = "citeseer.ist.psu.edu/746860.html" }
Citations (may not include all citations):244 Theory and practice of recursive identification (context) - Ljung, Soderstrom - 1986
135 Introduction to Robotics (context) - Craig - 1986
28 Resolved motion rate control of manipulators and human prost.. (context) - Whitney - 1969
27 Constructive incremental learning from only local informatio.. - Schaal, Atkeson - 2047
22 Kinematic programming alternatives for redundant manipulator.. (context) - Baillieul - 1985
18 Automatic supervisory control of the configuration and behav.. (context) - Liegeois - 1977
17 Soft modeling by latent variables: The nonlinear iterative p.. (context) - Wold - 1975
14 Task-level robot learning: Juggling a tennis ball more accur.. (context) - Aboaf, Drucker et al. - 1989
11 Supervised learning with a distal teacher (context) - Jordan - 1992
10 A self-organizing neural model of motor equivalent reaching .. (context) - Bullock, Grossberg et al. - 1993
10 Locally weighted projection regression: An O (context) - Vijayakumar, Schaal - 2000
8 Task-level robot learning - Aboaf, Atkeson et al. - 1988
7 Inverse kinematics for humanoid robots (context) - Tevatia, Schaal
6 Resolution of kinematic redundancy (context) - Baillieul, Martin - 1990
6 Skilled actions: A task-dynamic approach (context) - Saltzman, Kelso - 1987
5 The human arm as a redundant manipulator: The control of pat.. (context) - Cruse, Bruwer - 1987
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