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--- abstract: |- 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. altloc: - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS123/sun.pdf - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS123/epirob05d.pdf chapter: ~ commentary: ~ commref: ~ confdates: 'July 22-24, 2005' conference: 'Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems' confloc: 'Nara, Japan' contact_email: ~ creators_id: [] creators_name: - family: Sun given: Ganghua honourific: '' lineage: '' - family: Scassellati given: Brian honourific: '' lineage: '' date: 2005 date_type: published datestamp: 2006-07-23 department: ~ dir: disk0/00/00/49/67 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: - family: Berthouze given: Luc honourific: '' lineage: '' - family: Kaplan given: Fr�d�ric honourific: '' lineage: '' - family: Kozima given: Hideki honourific: '' lineage: '' - family: Yano given: Hiroyuki honourific: '' lineage: '' - family: Konczak given: J�rgen honourific: '' lineage: '' - family: Metta given: Giorgio honourific: '' lineage: '' - family: Nadel given: Jacqueline honourific: '' lineage: '' - family: Sandini given: Giulio honourific: '' lineage: '' - family: Stojanov given: Georgi honourific: '' lineage: '' - family: Balkenius given: Christian honourific: '' lineage: '' eprint_status: archive eprintid: 4967 fileinfo: /style/images/fileicons/application_pdf.png;/4967/1/sun.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: 'vestibular system, Nico humanoid robot, reaching trajectory, radial basis function network, degrees-of-freedom problem, developmental robot' lastmod: 2011-03-11 08:56:29 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 71-77 pubdom: FALSE publication: ~ publisher: Lund University Cognitive Studies refereed: TRUE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 17:05:32 subjects: - comp-sci-mach-learn - comp-sci-art-intel - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: |- Exploiting Vestibular Output during Learning Results in Naturally Curved Reaching Trajectories type: confpaper userid: 3507 volume: 123