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Learning Inverse Dynamics: A Comparison

2008

Conference Paper

ei


While it is well-known that model can enhance the control performance in terms of precision or energy efficiency, the practical application has often been limited by the complexities of manually obtaining sufficiently accurate models. In the past, learning has proven a viable alternative to using a combination of rigid-body dynamics and handcrafted approximations of nonlinearities. However, a major open question is what nonparametric learning method is suited best for learning dynamics? Traditionally, locally weighted projection regression (LWPR), has been the standard method as it is capable of online, real-time learning for very complex robots. However, while LWPR has had significant impact on learning in robotics, alternative nonparametric regression methods such as support vector regression (SVR) and Gaussian processes regression (GPR) offer interesting alternatives with fewer open parameters and potentially higher accuracy. In this paper, we evaluate these three alternatives for model learning. Our comparison consists out of the evaluation of learning quality for each regression method using original data from SARCOS robot arm, as well as the robot tracking performance employing learned models. The results show that GPR and SVR achieve a superior learning precision and can be applied for real-time control obtaining higher accuracy. However, for the online learning LWPR presents the better method due to its lower computational requirements.

Author(s): Nguyen-Tuong, D. and Peters, J. and Seeger, M. and Schölkopf, B.
Book Title: Advances in Computational Intelligence and Learning: Proceedings of the European Symposium on Artificial Neural Networks
Journal: Advances in Computational Intelligence and Learning: Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008)
Pages: 13-18
Year: 2008
Month: April
Day: 0
Editors: M Verleysen
Publisher: d-side

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Event Name: 16th European Symposium on Artificial Neural Networks (ESANN 2008)
Event Place: Bruges, Belgium

Address: Evere, Belgium
Digital: 0
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

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BibTex

@inproceedings{4936,
  title = {Learning Inverse Dynamics: A Comparison},
  author = {Nguyen-Tuong, D. and Peters, J. and Seeger, M. and Sch{\"o}lkopf, B.},
  journal = {Advances in Computational Intelligence and Learning: Proceedings of the European Symposium on Artificial Neural Networks (ESANN 2008)},
  booktitle = {Advances in Computational Intelligence and Learning: Proceedings of the European Symposium on Artificial Neural Networks},
  pages = {13-18},
  editors = {M Verleysen},
  publisher = {d-side},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Evere, Belgium},
  month = apr,
  year = {2008},
  month_numeric = {4}
}