?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Exploiting+Vestibular+Output+during+Learning%0AResults+in+Naturally+Curved+Reaching+Trajectories&rft.creator=Sun%2C+Ganghua&rft.creator=Scassellati%2C+Brian&rft.subject=Machine+Learning&rft.subject=Artificial+Intelligence&rft.subject=Robotics&rft.description=Teaching+a+humanoid+robot+to+reach+for+a%0Avisual+target+is+a+complex+problem+in+part+because%0Aof+the+high+dimensionality+of+the+control%0Aspace.+In+this+paper%2C+we+demonstrate+a+biologically%0Aplausible+simplification+of+the+reaching%0Aprocess+that+replaces+the+degrees+of+freedom%0Ain+the+neck+of+the+robot+with+sensory+readings%0Afrom+a+vestibular+system.+We+show+that%0Athis+simplification+introduces+errors+that+are%0Aeasily+overcome+by+a+standard+learning+algorithm.%0AFurthermore%2C+the+errors+that+are+necessarily%0Aintroduced+by+this+simplification+result%0Ain+reaching+trajectories+that+are+curved+in+the%0Asame+way+as+human+reaching+trajectories.&rft.publisher=Lund+University+Cognitive+Studies&rft.contributor=Berthouze%2C+Luc&rft.contributor=Kaplan%2C+Fr%C3%A9d%C3%A9ric&rft.contributor=Kozima%2C+Hideki&rft.contributor=Yano%2C+Hiroyuki&rft.contributor=Konczak%2C+J%C3%BCrgen&rft.contributor=Metta%2C+Giorgio&rft.contributor=Nadel%2C+Jacqueline&rft.contributor=Sandini%2C+Giulio&rft.contributor=Stojanov%2C+Georgi&rft.contributor=Balkenius%2C+Christian&rft.date=2005&rft.type=Conference+Paper&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F4967%2F1%2Fsun.pdf&rft.identifier=++Sun%2C+Ganghua+and+Scassellati%2C+Brian++(2005)+Exploiting+Vestibular+Output+during+Learning+Results+in+Naturally+Curved+Reaching+Trajectories.++%5BConference+Paper%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F4967%2F