Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements
Neumann K, Rolf M, Steil JJ, Gienger M (2010)
In: From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Doncieux S, Girard B, Guillot A, Hallam J, Meyer J-A, Mouret J-B (Eds); Lecture notes in computer science, 6226. Springer.
Konferenzbeitrag
| Veröffentlicht | Englisch
Download
NeumannRolfSteilSAB2010.pdf
609.24 KB
Autor*in
Herausgeber*in
Doncieux, Stéphane;
Girard, Benoît;
Guillot, Agnès;
Hallam, John;
Meyer, Jean-Arcady;
Mouret, Jean-Baptiste
Einrichtung
Abstract / Bemerkung
We present a neural network approach to learn inverse kinematics
of the humanoid robot ASIMO, where we focus on bi-manual
tool use. The learning copes with both the highly redundant inverse
kinematics of ASIMO and the additional arbitrary constraint imposed
by the tool that couples both hands. We show that this complex kinematics
can be learned from few ground-truth examples using an efficient
recurrent reservoir framework, which has been introduced previously for
kinematics learning and movement generation. We analyze and quantify
the network’s generalization for a given tool by means of reproducing
the constraint in untrained target motions.
Stichworte
CoR-Lab Publication
Erscheinungsjahr
2010
Titel des Konferenzbandes
From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings
Serien- oder Zeitschriftentitel
Lecture notes in computer science
Band
6226
Konferenz
11th International Conference on Simulation of Adaptive Behavior, SAB 2010
Konferenzort
Paris, France
Konferenzdatum
2010-08-25 – 2010-08-28
ISBN
978-3-642-15192-7
Page URI
https://pub.uni-bielefeld.de/record/2142025
Zitieren
Neumann K, Rolf M, Steil JJ, Gienger M. Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In: Doncieux S, Girard B, Guillot A, Hallam J, Meyer J-A, Mouret J-B, eds. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Lecture notes in computer science. Vol 6226. Springer; 2010.
Neumann, K., Rolf, M., Steil, J. J., & Gienger, M. (2010). Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In S. Doncieux, B. Girard, A. Guillot, J. Hallam, J. - A. Meyer, & J. - B. Mouret (Eds.), Lecture notes in computer science: Vol. 6226. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings Springer. https://doi.org/10.1007/978-3-642-15193-4_45
Neumann, Klaus, Rolf, Matthias, Steil, Jochen J., and Gienger, Michael. 2010. “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements”. In From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings, ed. Stéphane Doncieux, Benoît Girard, Agnès Guillot, John Hallam, Jean-Arcady Meyer, and Jean-Baptiste Mouret. Vol. 6226. Lecture notes in computer science. Springer.
Neumann, K., Rolf, M., Steil, J. J., and Gienger, M. (2010). “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements” in From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings, Doncieux, S., Girard, B., Guillot, A., Hallam, J., Meyer, J. - A., and Mouret, J. - B. eds. Lecture notes in computer science, vol. 6226, (Springer).
Neumann, K., et al., 2010. Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In S. Doncieux, et al., eds. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Lecture notes in computer science. no.6226 Springer.
K. Neumann, et al., “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements”, From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings, S. Doncieux, et al., eds., Lecture notes in computer science, vol. 6226, Springer, 2010.
Neumann, K., Rolf, M., Steil, J.J., Gienger, M.: Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In: Doncieux, S., Girard, B., Guillot, A., Hallam, J., Meyer, J.-A., and Mouret, J.-B. (eds.) From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Lecture notes in computer science. 6226, Springer (2010).
Neumann, Klaus, Rolf, Matthias, Steil, Jochen J., and Gienger, Michael. “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements”. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Ed. Stéphane Doncieux, Benoît Girard, Agnès Guillot, John Hallam, Jean-Arcady Meyer, and Jean-Baptiste Mouret. Springer, 2010.Vol. 6226. Lecture notes in computer science.
Alle Dateien verfügbar unter der/den folgenden Lizenz(en):
Copyright Statement:
Dieses Objekt ist durch das Urheberrecht und/oder verwandte Schutzrechte geschützt. [...]
Volltext(e)
Name
NeumannRolfSteilSAB2010.pdf
609.24 KB
Access Level
Open Access
Zuletzt Hochgeladen
2019-09-06T08:57:32Z
MD5 Prüfsumme
b20b782bd4acef378e070471939211fa
Google Scholar
ISBN Suche