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Planning and Moving in Dynamic Environments: A statistical machine learning approach
(Springer-Verlag, 2009)
In this chapter, we develop a new view on problems of movement control and planning from a Machine Learning perspective. In this view, decision making, control, and planning are all considered as an inference or (alternately) ...
A Computational Model of Limb Impedance Control Based on Principles of Internal Model Uncertainty
(PLoS, 2010-10)
Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is ...
Methods for Learning Control Policies from Variable Constraint Demonstrations
(Springer-Verlag, 2010)
Many everyday human skills can be framed in terms of performing some task subject to constraints imposed by the task or the environment. Constraints are usually not observable and frequently change between contexts. In ...
Latent Spaces for Dynamic Movement Primitives
(2009)
Dynamic movement primitives (DMPs) have been
proposed as a powerful, robust and adaptive tool for planning
robot trajectories based on demonstrated example movements.
Adaptation of DMPs to new task requirements becomes ...
Active sequential learning with tactile feedback
(2010)
We consider the problem of tactile discrimination, with the goal of estimating an underlying state parameter in a sequential
setting. If the data is continuous and high-
dimensional, collecting enough representative data ...
2D Shape Classification and Retrieval
(Professional Book Center, 2005-07)
We present a novel correspondence-based technique for efficient shape classification and retrieval. Shape boundaries are described by a set of (ad hoc) equally spaced points avoiding the need to extract landmark points. ...
A Closed Loop Prosthetic Hand as a Model Sensorimotor Circuit
(2009)
We present a novel manipulandum for understanding the sensorimotor processes involved in object grasping. We have developed a closed-loop prosthetic hand, with 2 degrees of control and 32 channels of vibrotactile feedback ...
Robust Constraint-consistent Learning
(2009)
Many everyday human skills can be framed in
terms of performing some task subject to constraints imposed
by the environment. Constraints are usually unobservable
and frequently change between contexts. In this paper, ...