TY  - GEN
ID  - cogprints4967
UR  - http://cogprints.org/4967/
A1  - Sun, Ganghua
A1  - Scassellati, Brian
Y1  - 2005///
N2  - Teaching a humanoid robot to reach for a
visual target is a complex problem in part because
of the high dimensionality of the control
space. In this paper, we demonstrate a biologically
plausible simplification of the reaching
process that replaces the degrees of freedom
in the neck of the robot with sensory readings
from a vestibular system. We show that
this simplification introduces errors that are
easily overcome by a standard learning algorithm.
Furthermore, the errors that are necessarily
introduced by this simplification result
in reaching trajectories that are curved in the
same way as human reaching trajectories.
PB  - Lund University Cognitive Studies
KW  - vestibular system
KW  -  Nico humanoid robot
KW  -  reaching trajectory
KW  -  radial basis function network
KW  -  degrees-of-freedom problem
KW  -  developmental robot
TI  - Exploiting Vestibular Output during Learning
Results in Naturally Curved Reaching Trajectories
SP  - 71
AV  - public
EP  - 77
ER  -

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