Learning Nullspace Policies

Abstract

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.