TY - GEN
T1 - Navigation functions learning from experiments
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
AU - Filippidis, Ioannis F.
AU - Kyriakopoulos, Kostas J.
AU - Artemiadis, Panagiotis
PY - 2012/1/1
Y1 - 2012/1/1
N2 - This paper proposes a method to construct Navigation Functions (NF) from experimental trajectories in an unknown environment. We want to approximate an unknown obstacle function and then use it within an NF. When navigating the same destinations with the experiments, this NF should produce the same trajectories as the experiments. This requirement is equivalent to a partial differential equation (PDE). Solving the PDE yields the unknown obstacle function, expressed with spline basis functions. We apply this new method to anthropomorphic grasping, producing automatic trajectories similar to the observed ones. The grasping experiments were performed for a set of different objects, Principal Component Analysis (PCA) allows reduction of the configuration space dimension, where the learning NF method is then applied.
AB - This paper proposes a method to construct Navigation Functions (NF) from experimental trajectories in an unknown environment. We want to approximate an unknown obstacle function and then use it within an NF. When navigating the same destinations with the experiments, this NF should produce the same trajectories as the experiments. This requirement is equivalent to a partial differential equation (PDE). Solving the PDE yields the unknown obstacle function, expressed with spline basis functions. We apply this new method to anthropomorphic grasping, producing automatic trajectories similar to the observed ones. The grasping experiments were performed for a set of different objects, Principal Component Analysis (PCA) allows reduction of the configuration space dimension, where the learning NF method is then applied.
UR - http://www.scopus.com/inward/record.url?scp=84864433654&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864433654&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225168
DO - 10.1109/ICRA.2012.6225168
M3 - Conference contribution
AN - SCOPUS:84864433654
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 570
EP - 575
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 May 2012 through 18 May 2012
ER -