Learning Nullspace Policies
Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010).
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.