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  Learning Tracking Control with Forward Models

Bócsi, B., Hennig, P., Csató, L., & Peters, J. (2012). Learning Tracking Control with Forward Models. In IEEE International Conference on Robotics and Automation (ICRA 2012) (pp. 259-264). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B782-A Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B783-8
Genre: Conference Paper

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 Creators:
Bócsi, B1, Author           
Hennig, P1, Author           
Csató, L1, 2, Author           
Peters, J1, 3, Author           
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent System, Max Planck Society, ou_1497647              
3Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              

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 Abstract: Performing task-space tracking control on redundant robot manipulators is a difficult problem. When the physical model of the robot is too complex or not available, standard methods fail and machine learning algorithms can have advantages. We propose an adaptive learning algorithm for tracking control of underactuated or non-rigid robots where the physical model of the robot is unavailable. The control method is based on the fact that forward models are relatively straightforward to learn and local inversions can be obtained via local optimization. We use sparse online Gaussian process inference to obtain a flexible probabilistic forward model and second order optimization to find the inverse mapping. Physical experiments indicate that this approach can outperform state-of-the-art tracking control algorithms in this context.

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 Dates: 2012-05
 Publication Status: Issued
 Pages: -
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 Rev. Type: -
 Identifiers: URI: http://www.icra2012.org/
DOI: 10.1109/ICRA.2012.6224831
BibTex Citekey: BocsiHCP2012
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 259 - 264 Identifier: -