A learning framework for generic sensory-motor maps

— We present a new approach to cope with unknown redundant systems. For this we present i) an online algorithm that learns general input-output restrictions and, ii) a method that, given a partial set of input-output variables, provides an estimate of the remaining ones, using the learned restrictions. We show applications of the algorithm using examples of direct and inverse robot kinematics.

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Manuel Lopes, Bruno D. Damas
• Keywords: General Input-output Restrictions, Inverse Robot Kinematics, IROS 2007, Robotics, Unknown Redundant Systems