Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements

Neumann K, Rolf M, Steil JJ, Gienger M (2010)
In: From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Doncieux S, Girard B, Guillot A, Hallam J, Meyer J-A, Mouret J-B (Eds); Lecture notes in computer science, 6226. Springer.

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Conference Paper | Published | English
Editor
Doncieux, Stéphane ; Girard, Benoît ; Guillot, Agnès ; Hallam, John ; Meyer, Jean-Arcady ; Mouret, Jean-Baptiste
Abstract
We present a neural network approach to learn inverse kinematics of the humanoid robot ASIMO, where we focus on bi-manual tool use. The learning copes with both the highly redundant inverse kinematics of ASIMO and the additional arbitrary constraint imposed by the tool that couples both hands. We show that this complex kinematics can be learned from few ground-truth examples using an efficient recurrent reservoir framework, which has been introduced previously for kinematics learning and movement generation. We analyze and quantify the network’s generalization for a given tool by means of reproducing the constraint in untrained target motions.
Publishing Year
Conference
11th International Conference on Simulation of Adaptive Behavior, SAB 2010
Location
Paris, France
Conference Date
2010-08-25 – 2010-08-28
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Neumann K, Rolf M, Steil JJ, Gienger M. Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In: Doncieux S, Girard B, Guillot A, Hallam J, Meyer J-A, Mouret J-B, eds. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Lecture notes in computer science. Vol 6226. Springer; 2010.
Neumann, K., Rolf, M., Steil, J. J., & Gienger, M. (2010). Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In S. Doncieux, B. Girard, A. Guillot, J. Hallam, J. - A. Meyer, & J. - B. Mouret (Eds.), Lecture notes in computer science: Vol. 6226. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings Springer.
Neumann, K., Rolf, M., Steil, J. J., and Gienger, M. (2010). “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements” in From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings, ed. S. Doncieux, B. Girard, A. Guillot, J. Hallam, J. - A. Meyer, and J. - B. Mouret Lecture notes in computer science, vol. 6226, (Springer).
Neumann, K., et al., 2010. Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In S. Doncieux, et al., eds. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Lecture notes in computer science. no.6226 Springer.
K. Neumann, et al., “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements”, From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings, S. Doncieux, et al., eds., Lecture notes in computer science, vol. 6226, Springer, 2010.
Neumann, K., Rolf, M., Steil, J.J., Gienger, M.: Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements. In: Doncieux, S., Girard, B., Guillot, A., Hallam, J., Meyer, J.-A., and Mouret, J.-B. (eds.) From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Lecture notes in computer science. 6226, Springer (2010).
Neumann, Klaus, Rolf, Matthias, Steil, Jochen J., and Gienger, Michael. “Learning Inverse Kinematics for Pose-Constraint Bi-Manual Movements”. From Animals to Animats 11. 11th International Conference on Simulation of Adaptive Behavior, SAB 2010. Proceedings. Ed. Stéphane Doncieux, Benoît Girard, Agnès Guillot, John Hallam, Jean-Arcady Meyer, and Jean-Baptiste Mouret. Springer, 2010.Vol. 6226. Lecture notes in computer science.
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