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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 -