Incremental Semiparametric Inverse Dynamics Learning
Date
2016-01-18Author
Camoriano, R
Traversaro, S
Rosasco, L
Metta, G
Nori, F
Subject
stat.ML stat.ML cs.LG cs.RO
Metadata
Show full item recordAbstract
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling based on incremental kernel methods, with no prior information on the mechanical properties of the system. This yields to an incremental semiparametric approach, leveraging the advantages of both the parametric and nonparametric models. We validate the proposed technique learning the dynamics of one arm of the iCub humanoid robot.
Collections
Author URL
Publisher URL
Recommended, similar items
The following license files are associated with this item: