TY - GEN
T1 - Incremental learning control of the DLR-HIT-hand II during interaction tasks
AU - Alessi, Alessio
AU - Zollo, Loredana
AU - Lonini, Luca
AU - De Falco, Rosanna
AU - Guglielmelli, Eugenio
PY - 2010/12/1
Y1 - 2010/12/1
N2 - In this paper a bio-inspired control architecture for a robotic hand is presented. It relies on the same mechanisms of learning inverse internal models studied in humans. The control is capable of developing an internal representation of the hand interacting with the environment and updating it by means of the interaction forces that arise during contact. The learning paradigm exploits LWPR networks, which allow efficient incremental online learning through the use of spatially localized linear regression models. Additionally this paradigm limits negative interference when learning multiple tasks. The architecture is validated on a simulated finger of the DLRHIT- Hand II performing closing movements in presence of two different viscous force fields, perturbing its motion.
AB - In this paper a bio-inspired control architecture for a robotic hand is presented. It relies on the same mechanisms of learning inverse internal models studied in humans. The control is capable of developing an internal representation of the hand interacting with the environment and updating it by means of the interaction forces that arise during contact. The learning paradigm exploits LWPR networks, which allow efficient incremental online learning through the use of spatially localized linear regression models. Additionally this paradigm limits negative interference when learning multiple tasks. The architecture is validated on a simulated finger of the DLRHIT- Hand II performing closing movements in presence of two different viscous force fields, perturbing its motion.
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U2 - 10.1109/IEMBS.2010.5627411
DO - 10.1109/IEMBS.2010.5627411
M3 - Conference contribution
C2 - 21096810
AN - SCOPUS:78650804214
SN - 9781424441235
T3 - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
SP - 3194
EP - 3197
BT - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
T2 - 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Y2 - 31 August 2010 through 4 September 2010
ER -