Page 9 - Rapid Learning in Robotics
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CONTENTS vii
8 Application Examples in the Robotics Domain 107
8.1 Robot Finger Kinematics . . . . . . . . . . . . . . . . . . . . . 107
8.2 The Inverse 6 D Robot Kinematics Mapping . . . . . . . . . . 112
8.3 Puma Kinematics: Noisy Data and Adaptation to Sudden
Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
8.4 Resolving Redundancy by Extra Constraints for the Kine-
matics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
8.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
9 “Mixture-of-Expertise” or “Investment Learning” 125
9.1 Context dependent “skills” . . . . . . . . . . . . . . . . . . . 125
9.2 “Investment Learning” or “Mixture-of-Expertise” Architec-
ture . . ... ... ... .. ... ... ... ... .. ... ... 127
9.2.1 Investment Learning Phase . . . . . . . . . . . . . . . 127
9.2.2 One-shot Adaptation Phase . . . . . . . . . . . . . . . 128
9.2.3 “Mixture-of-Expertise” Architecture . . . . . . . . . . 128
9.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
9.3.1 Coordinate Transformation with and without Hier-
archical PSOMs . . . . . . . . . . . . . . . . . . . . . . 131
9.3.2 Rapid Visuo-motor Coordination Learning . . . . . . 132
9.3.3 Factorize Learning: The 3 D Stereo Case . . . . . . . . 136
10 Summary 139
Bibliography 146
